US9908698B2 - Automated bot transfer arm drive system - Google Patents
Automated bot transfer arm drive system Download PDFInfo
- Publication number
- US9908698B2 US9908698B2 US15/359,204 US201615359204A US9908698B2 US 9908698 B2 US9908698 B2 US 9908698B2 US 201615359204 A US201615359204 A US 201615359204A US 9908698 B2 US9908698 B2 US 9908698B2
- Authority
- US
- United States
- Prior art keywords
- finger
- transport vehicle
- sensor
- autonomous transport
- registration
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
Definitions
- the embodiments generally relate to storage and retrieval systems and, more particularly, to autonomous transports of the storage and retrieval systems.
- Warehouses for storing case units may generally comprise a series of storage racks that are accessible by transport devices such as, for example, fork lifts, carts and elevators that are movable within aisles between or along the storage racks or by other lifting and transporting devices. These transport devices may be automated or manually driven. Generally the items transported to/from and stored on the storage racks are contained in carriers, for example storage containers such as trays, totes or shipping cases, or on pallets.
- FIG. 1 schematically illustrates an exemplary storage and retrieval system in accordance with an aspect of the disclosed embodiment
- FIGS. 2A and 2B illustrate storage shelves in accordance with aspects of the disclosed embodiment
- FIG. 3-4 are schematic illustrations of the exemplary autonomous transport vehicle in accordance with aspects of the disclosed embodiment
- FIGS. 5, 6A and 6B are schematic illustrations of portions of the exemplary autonomous transport vehicle of FIGS. 3-4 in accordance with aspects of the disclosed embodiment
- FIG. 7 is a schematic illustration of the interface between a transfer arm of the autonomous transport vehicle of FIGS. 3-4 and a shelf of a conveyor in accordance with the embodiments;
- FIGS. 8A and 8B are schematic illustrations of autonomous transport vehicle tilt detection in accordance with an aspect of the disclosed embodiment.
- FIG. 9 is a flow diagram in accordance with an aspect of the disclosed embodiment.
- FIG. 1 schematically illustrates an exemplary storage and retrieval system in accordance with the embodiments.
- the storage and retrieval system 100 may be substantially similar to that described in, for example, U.S. patent application Ser. No. 12/757,381 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,740,538), U.S. patent application Ser. No. 14/293,556 filed on Jun. 2, 2014, U.S. Provisional Patent Application No. 61/423,340 filed on Dec. 15, 2010, and U.S. patent application Ser. No. 13/326,674 filed on Dec.
- case units as used herein means items not stored in trays, on totes or on pallets, e.g. uncontained or items stored in trays, totes or on pallets.
- case units may include cases of items (e.g. case of soup cans, boxes of cereal, etc.) or individual items that are adapted to be taken off of or placed on a pallet.
- shipping cases or case units e.g.
- cartons, barrels, boxes, crates, jugs, totes, pallets or any other suitable device for holding case units may have variable sizes and may be used to hold items in shipping and may be configured so they are capable of being palletized for shipping. It is noted that when, for example, bundles or pallets of case units arrive at the storage and retrieval system the content of each pallet may be uniform (e.g. each pallet holds a predetermined number of the same item—one pallet holds soup and another pallet holds cereal) and as pallets leave the storage and retrieval system the pallets may contain any suitable number and combination of different items (e.g. each pallet may hold different types of items—a pallet holds a combination of soup and cereal). It is noted that the storage and retrieval system described herein may be applied to any environment in which case units are stored and retrieved.
- the storage and retrieval system 100 may be configured for installation in, for example, existing warehouse structures or adapted to new warehouse structures.
- the storage and retrieval system may include in-feed and out-feed transfer stations 170 , 160 , multilevel vertical conveyors 150 A, 150 B, a storage structure 130 , and a number of autonomous transport vehicles or robots 110 (referred to herein as “bots”). It is noted that the storage and retrieval system may also include robot or bot transfer stations (as described in, for example, U.S. patent application Ser. No. 12/757,220 filed on Apr. 9, 2010 (now U.S. Pat. No. 9,096,375) and U.S. patent application Ser. No. 14/816,804 filed on Aug.
- the in-feed transfer stations 170 and out-feed transfer stations 160 may operate together with their respective multilevel vertical conveyors 150 A, 150 B for bi-directionally transferring case units to and from one or more levels of the storage structure 130 . It is noted that while the multilevel vertical conveyors are described herein as being dedicated inbound or in-feed conveyors 150 A and outbound or out-feed conveyors 150 B, each of the conveyors 150 A, 150 B may be used for both inbound and outbound transfer of case units/items from the storage and retrieval system.
- the multilevel vertical conveyors may be any suitable lifting devices for transporting case units between levels of the storage and retrieval system. It is noted that while multilevel vertical conveyors are described herein in other aspects the conveyors may be any suitable conveyors or transfer/picking devices having any suitable transport path orientation. Some non-limiting suitable examples of multilevel vertical conveyors can be found in U.S. Provisional Patent Application No. 61/423,298 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,088 filed on Dec. 15, 2011 (now U.S. Pat. No. 8,998,554),U.S. patent application Ser. No. 14/679,535 filed on Apr. 6, 2015 (now U.S. Pat. No. 9,371,183) and U.S. patent application Ser. No.
- the multilevel vertical conveyors may have any suitable number of support shelves for transporting the case units to a predetermined level of the storage and retrieval system.
- the support shelves may have slatted supports configured to allow fingers of the bots 110 or in-feed/out-feed transfer stations 170 , 160 to pass between the slats for transferring case units to and from the conveyor. It is noted that in the embodiments the transfer of case units between the bots 110 and the multilevel vertical conveyors may occur in any suitable manner.
- the storage and retrieval system 100 may include multiple in-feed and out-feed multilevel vertical conveyors 150 A, 150 B that are accessible by, for example, bots 110 on each level of the storage and retrieval system 100 so that one or more case unit(s) can be transferred from a multilevel vertical conveyor 150 A, 150 B to each storage space on a respective level and from each storage space to any one of the multilevel vertical conveyors 150 A, 150 B on a respective level.
- the bots 110 may be configured to transfer the case units between the storage spaces and the multilevel vertical conveyors with one pick (e.g. substantially directly between the storage spaces and the multilevel vertical conveyors).
- the designated bot 110 picks the case unit(s) from a shelf of a multilevel vertical conveyor, transports the case unit(s) to a predetermined storage area of the storage structure 130 and places the case unit(s) in the predetermined storage area (and vice versa).
- the bots 110 may be configured to place case units, such as the above described retail merchandise, into picking stock in the one or more levels of the storage structure 130 and then selectively retrieve ordered items for shipping the ordered items to, for example, a store or other suitable location.
- the bots 110 may interface in any suitable manner with the multilevel vertical conveyors 150 A, 150 B such as through, for example, extension of a transfer arm or effector of the bot (which may have fingers for interfacing with slatted support shelves of the multi-level vertical conveyors) relative to a frame of the bot.
- Suitable examples of bots are described in U.S. patent application Ser. No. 12/757,312, and filed on Apr. 9, 2010 (now U.S. Pat. No. 8,425,173),U.S.
- the storage structure 130 may include multiple levels of storage rack modules where each level includes an array of storage spaces (arrayed on the multiple levels and in multiple rows on each level), picking aisles 130 A formed between the rows of storage spaces, and transfer decks 130 B. It is noted that each level may also include respective bot transfer stations for providing an indirect interface between the bots and the multilevel vertical conveyors.
- the picking aisles 130 A and transfer decks 130 B may be arranged for allowing the bots 110 to traverse respective levels of the storage structure 130 for placing case units into picking stock and to retrieve the ordered case units.
- the storage and retrieval system may be configured to allow random accessibility to the storage spaces.
- all storage spaces in the storage structure 130 may be treated substantially equally when determining which storage spaces are to be used when picking and placing case units from/to the storage structure 130 such that any storage space of sufficient size can be used to store items.
- the storage structure 130 of the embodiments may also be arranged such that there is no vertical or horizontal array partitioning of the storage structure.
- each multilevel vertical conveyor 150 A, 150 B is common to all storage spaces (e.g. the array of storage spaces) in the storage structure 130 such that any bot 110 can access each storage space and any multilevel vertical conveyor 150 A, 150 B can receive case units from any storage space on any level so that the multiple levels in the array of storage spaces substantially act as a single level (e.g. no vertical partitioning).
- the multilevel vertical conveyors 150 A, 150 B can also receive case units from any storage space on any level of the storage structure 130 (e.g. no horizontal partitioning). It is noted that the storage and retrieval system may also be configured so that each multilevel vertical conveyor serves a predetermined area of the array of storage spaces.
- the storage structure 130 may also include charging stations 130 C for replenishing, for example, a battery pack of the bots 110 .
- the charging stations 130 C may be located at, for example, transfer areas 295 ( FIG. 2 ) of the transfer deck 130 B so that the bots 110 can substantially simultaneously transfer items, for example, to and from a multilevel vertical conveyor 150 A, 150 B while being charged.
- the bots 110 and other suitable features of the storage and retrieval system 100 may be controlled by, for example, one or more central system control computers (e.g. control server) 120 through, for example, any suitable network 180 .
- the network 180 may be a wired network, a wireless network or a combination of a wireless and wired network using any suitable type and/or number of communication protocols.
- the system control server 120 may be configured to manage and coordinate the overall operation of the storage and retrieval system 100 and interface with, for example, a warehouse management system 125 , which in turn manages the warehouse facility as a whole.
- the control server 120 may be substantially similar to that described in, for example, U.S. patent application Ser. No. 12/757,337 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,594,835), U.S. patent application Ser. No. 14/089,434 filed on Nov. 25, 2013 (now U.S. Pat. No. 9,051,120) and U.S. patent application Ser. No. 14/733,341 filed on Jun. 8, 2015 the disclosures of which are incorporated by reference herein in their entireties.
- the storage structure 130 may hold the picking stock on storage shelves 600 that are separated by picking aisle spaces 130 A.
- the storage shelves 600 may be substantially similar to those described in, for example, U.S. patent application Ser. No. 12/757,220 filed on Apr. 9, 2010 (now U.S. Pat. No. 9,096,375), U.S. patent application Ser. No. 14/816,804 filed on Aug. 3, 2015, U.S. patent application Ser. No. 12/757,381 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,740,538) and U.S. patent application Ser. No. 14/293,556 filed on Jun. 2, 2014 (which are previously incorporated by reference).
- the storage shelves 600 may include one or more support legs 620 L 1 , 620 L 2 extending from, for example, the horizontal supports 610 , 611 , 613 (which are supported by vertical supports 612 ).
- the support legs 620 L 1 , 620 L 2 may have any suitable configuration and may be part of, for example, a substantially U-shaped channel 620 such that the legs are connected to each other through channel portion 620 B.
- the channel portion 620 B may provide an attachment point between the channel 620 and one or more horizontal supports 610 , 611 , 613 .
- each support leg 620 L 1 , 620 L 2 may also be configured to individually mount to the horizontal supports 610 , 611 , 613 .
- each support leg 620 L 1 , 620 L 2 includes a bent portion 620 H 1 , 620 H 2 having a suitable surface area configured to support case units stored on the shelves 600 .
- the bent portions 620 H 1 , 620 H 2 may be configured to substantially prevent deformation of the case units stored on the shelves.
- the leg portions 620 H 1 , 620 H 2 may have a suitable thickness or have any other suitable shape and/or configuration for supporting case units stored on the shelves. As can be seen in FIGS.
- the support legs 620 L 1 , 620 L 2 or channels 620 may form a slatted or corrugated shelf structure where spaces 620 S between, for example, the support legs 620 L 1 , 620 L 2 allow for arms or fingers of the bots 110 to reach into the shelving for transferring case units to and from the shelves.
- transfer of items to and from the multilevel vertical conveyors 150 A, 150 B may occur in a substantially similar manner to that described above with respect to the storage shelves 600 .
- the spacing between the case units on the shelves may be any suitable spacing.
- transfer of case units to and from the multilevel vertical conveyors 150 A, 150 B may occur in a substantially similar manner to that described above with respect to storage shelves 600 .
- the bot 110 includes a longitudinally extended frame 110 F that has a first end 1500 and a second end 1501 where the longitudinal axis 6000 extends from the first end 1500 to the second end 1501 .
- At least one drive section 110 D may be coupled to one of the first and/or second ends 1500 , 1501 in any suitable manner for driving the bot 110 along the transfer deck(s) 130 B and picking aisles 130 A ( FIG. 1 ).
- the drive section 110 D may include drive wheels, tracks or any other suitable drive mechanism for effecting travel of the bot along the transfer deck(s) 130 B and picking aisles 130 A.
- the other end of the bot 110 may have any suitable supports, such as caster wheels, fixed wheels, steerable wheels, and similar mechanisms for movably supporting the bot 110 as it travels along the transfer deck(s) 130 B and picking aisles 130 A.
- the bot 110 may have any suitable controller 1220 ( FIG. 1 ) for effecting operation of the bot 110 (as described herein) and/or communication between the bot 110 and the control server 120 ( FIG. 1 ).
- the configuration of the bot shown in the drawings is merely exemplary and it is noted that the bot may have any suitable configuration for carrying out the detection and positioning of case units relative to the bot 110 as described herein.
- the frame 110 F of the bot 110 forms a payload bed 1510 that is configured to hold case units (or a pickface where a pickface is one or more cases that are to be picked and carried by the bot 110 ) or any other suitable payload.
- the payload bed 1510 may include any suitable pickface support surface.
- the pickface support surface is the roller bed described in, for example, U.S. Provisional Patent Application No. 61/423,220 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,040 filed on Dec. 15, 2011 (now U.S. Pat. No. 9,187,244) and U.S. patent application Ser. No. 14/942,717 filed on Nov. 16, 2015, previously incorporated by reference herein.
- a fence 1510 F may be located at a side opening 1510 P of the payload bed 1510 .
- the fence 1510 F may be attached to the frame 110 F in any suitable manner such as with fasteners or welding. It is noted that the fence 1510 F may also form part of the frame 110 F or be of unitary construction with the frame 110 F.
- the fence may include slots 1510 FS disposed between stopping members 1510 FM.
- the slots 1510 FS may be configured to allow fingers 1540 of the bot arm to extend through the fence 1510 F between the stopping members 1510 FM in a substantially lowered position so that fingers 1540 of a transfer arm 1540 A can be, for example, extended into a storage shelf 600 (e.g. between the slats in the storage shelf) below a pickface.
- the stopping members 1510 FM may be configured to extend above the payload bed 1510 to form a barrier that substantially prevents case units from exiting the payload bed 1510 once the case units are positioned on the payload bed 1510 .
- the number of slots 1510 FS is equal to the number of fingers 1540 but it should be understood that in the embodiments the fence 1510 F may be configured such that more than one finger 1540 passes through a single slot (e.g. the number of slots is less than the number of fingers).
- the fence may have any suitable configuration for preventing case units from exiting the payload area when the case units are carried by the bot 110 .
- the fence may be movable so that the stopping members are retractable such that when in an extended configuration the fence prevents the case units from exiting the payload area.
- the bot 110 may include a transfer arm or end effector 1540 A.
- the transfer arm 1540 A may include fingers 1540 and a finger support or movable member 1535 .
- the fingers 1540 may extend substantially laterally relative to the longitudinal axis 6000 of the bot and be configured to interface with, for example, the slatted shelf structure of the storage shelves 600 ( FIGS. 2A and 2B ) and the slatted support shelves 720 of the multilevel vertical conveyors ( FIG. 7 ).
- the fingers 1540 are capable of movement in the direction of arrow 1673 (e.g. in a direction substantially perpendicular to the direction 1550 of extension and retraction of the transfer arm 1540 A) between a lowered position and a raised position.
- the fingers 1540 when in a fully lowered position (e.g. the lowest point of travel allowed by a finger drive unit 1672 in FIG. 5 ) the fingers 1540 may be disposed below a surface of the payload bed 1510 or the fingers may form at least a portion of the payload bed.
- the fingers When the fingers are in a fully raised position (e.g. the highest point of travel allowed by the finger drive unit 1672 ) the fingers are located above the fence stopping members 1510 FM so that pickfaces can be transferred to and from the payload area of the bot 110 .
- the fingers may be driven by any suitable drive, as described below, for lifting pickfaces disposed on the fingers over the fence 1510 F and into/out of the payload bed 1510 of the bot 110 .
- each finger 1540 may include a mounting member 1671 and an arm portion 1541 having a first end 598 and a second end 599 .
- the mounting member 1671 may be coupled to the first end 598 of the arm portion 1541 while the second end 599 is distally located from the mounting member 1671 .
- Each finger 1540 may be movably coupled, in a cantilevered manner, to the movable member 1535 so that the fingers may be extended and retracted (e.g. via lateral movement of the movable member 1535 ) in the direction of arrow 1550 relative to the payload bed 1510 for interacting with, for example, the slats of the storage shelves 600 and the slatted shelves 720 ( FIG.
- each finger 1540 extends from the first end 598 of the finger 1540 .
- the movable member 1535 may include guides 1670 where each mounting member 1671 and a respective guide 1670 are configured such that the mounting member 1671 is slidable along the guide 1670 in the direction of arrow 1673 (e.g. along a lift axis that is substantially perpendicular to the direction 1550 of lateral travel of the transfer arm 1540 A).
- the guides 1670 are shown as rails but it is noted that the guides may be any suitable member for allowing a respective finger 1540 to controllably move relative to, for example, the movable member 1535 in the direction of arrow 1673 .
- At least one drive unit 1672 may be mounted to the movable member 1535 and be coupled to the first end of one or more fingers 1540 in any suitable manner for driving the one or more fingers along the guides 1670 in the direction of arrow 1673 . It is noted that the at least one drive unit 1672 may be coupled to any portion of the one or more fingers 1540 for driving the fingers along guides 1670 .
- each finger 1540 may have a respective drive unit 1672 so that each finger 1540 can be independently raised and lowered or a single drive unit may drive more than one finger along its respective guide (or e.g. some fingers may individually moveable while others are movable in groups).
- the drive unit 1672 may be any suitable drive unit capable of driving the finger(s) along the lift axis in the direction of arrow 1673 .
- the drive may include a stepper motor 1672 D configured to drive any suitable linear actuator such as, for example, a ball screw 1672 S.
- the drive unit may also include any suitable motor that allows for tracking the number of revolutions or partial revolutions of the motor. It is noted that the drive unit and guide may be incorporated with each other as a unit such as, for exemplary purposes only, a chain/belt and sprocket/pulley where the chain or belt is arranged to carry the finger in the direction of arrow 1673 .
- each drive unit 1672 may be selectable by, for example, the bot controller 1220 (or any other suitable controller such as for example control server 120 ) and independently operable for lifting a respective finger 1540 .
- the drive unit 1672 may be coupled to, for example, the first end 598 of the finger 1540 by any suitable coupling 1672 C.
- each drive unit 1672 may be selectably coupled to the respective finger 1540 by releasable couplings (e.g. mechanical, magnetic, etc.) or the drive units 1672 may be substantially permanently coupled to the respective fingers such as through a pivotable, rotatable, or otherwise movable joint or coupling.
- Each drive unit 1672 may be suitably connected to, for example, the bot controller 1220 or any other suitable controller (such as for exemplary purposes only the control server 120 ) for causing lifting movement of the fingers 1540 as described herein.
- the bot controller 1220 may be configured to selectively actuate each of the drive units 1672 for lifting and lowering any desired number of fingers 1540 in unison.
- a size of a pickface to be picked by the bot 110 can be determined in any suitable manner, such as through sensors located on the bot or any suitable table or other information stored in a memory of the bot controller 1220 , control server 120 , warehouse management system 2500 or any other suitable memory.
- a suitable number of fingers 1540 may be selected for actuation so that the pickface is substantially uniformly supported by the fingers 1540 of the transfer arm 1540 A.
- the controller 1220 may be configured to send start and stop commands to the motors 1672 D for the selected fingers 1540 to drive the motors 1672 D through the same angle of rotation causing the selected fingers 1540 to be lifted (or lowered) in unison so that the selected fingers 1540 are substantially at the same height and start/stop movement substantially at the same time.
- the motors 1672 D may be ganged to the controller 1220 so that the controller 1220 can select which motors 1672 D are to be commanded, e.g. placed in an operational state or an idle state ( FIG.
- the ganged connection between the motors 1672 D and the controller 1220 allows for operation of the selected motors with but one command signal for starting and stopping the selected motors ( FIG. 9 , Block 18010 ). Operation of the motors 1672 D with but one start/stop command signal allows the selected motors to start and stop substantially at the same time and hence, generate substantially the same rotation.
- any suitable sensors on the fingers may provide positional data but this positional data may not be needed for a closed loop position feedback system such as formed by the ganged motors 1672 D (e.g. stepper motor feedback) and the controller.
- the finger sensors may be used to confirm the position of the fingers as determined by the closed loop feedback system. In other aspects the finger sensors may be an open loop system may be used in lieu of or in addition to the closed loop feedback system.
- a case unit contact member 1530 may be movably located at least partially within the payload area where the case unit contact member is releasably coupled to the movable member 1535 for causing the extension and retraction of the transfer arm 1540 A in the direction of arrow 1550 in the manner described in, for example, U.S. Provisional Patent Application No. 61/423,365 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/326,952 filed on Dec. 15, 2011, previously incorporated by reference herein.
- the only items (which in this example is pickface 8003 ) on the shelf 720 of the conveyor may be those that are picked or placed by the bot 110 .
- other pickfaces 8001 , 8002 may be located adjacent the location 8000 to which the bot is picking from or placing to.
- the controller 1220 of the bot 110 may be configured to treat the transfer of items from/to the conveyors 150 A, 150 B different from the transfer of items from/to the storage shelf 600 .
- the bot may cause all of the fingers 1540 of the bot to be lifted above, for example, the fence stop members 1510 FM for transferring a pickface.
- the lifting and extension of all of the fingers 1540 will not interfere with any other items on the conveyors 150 A, 150 B. Lifting and extension of all the fingers 1540 would also substantially ensure the distributed support of the pickface 8003 being picked from an inbound conveyor 150 A by the fingers 1540 where the position of the pickface on the conveyor shelf 720 may not be known.
- pickface location 8000 lifting of all of the fingers 1540 for extension into the storage shelf 600 may result in contact with pickfaces 8001 , 8002 adjacent the location 8000 .
- pickfaces 8001 , 8002 adjacent the location 8000 .
- only the fingers 1540 U ( FIG. 4 ) that are supporting the pickface 8003 to be transferred to the shelf 600 may be lifted while the remaining fingers 1540 L remain in a substantially lowered position so that as the pickface 8003 is transferred to pickface location 8000 the fingers 1540 L not supporting the pickface 8003 are inserted into the shelf 600 beneath (and do not contact) the pickfaces 8001 , 8002 .
- the storage shelves and/or conveyor shelves may be configured such that the extension of the transfer arm 1540 A may be treated the same for the transfer of case units between the bot and both of the storage shelves and the multilevel vertical conveyors.
- a lift position sensor may be positioned along side the lift axis of one or more fingers 1540 for determining/tracking a position of the one or more fingers 1540 .
- the lift position sensor may include a registration device 7000 and one or more detection devices 7001 A- 7001 E.
- the registration device 7000 may be mounted to the mounting member 1671 and one or more detecting devices 7001 A- 7001 E may be mounted to movable member 1535 .
- the registration device and detecting devices may be beam (or optical) sensors, capacitive or inductive sensors, or any other suitable type of sensor that will allow for detection of the movement of the mounting member 1671 relative to, for example the movable member 1535 .
- the registration device 7000 may be a reflective flag in the case of an optical sensor and magnetic/electrical members in the case of capacitance or inductance sensors. It is noted that in the embodiments the registration devices may be any suitable devices that are capable of being detected by the detection devices.
- the detection devices 7001 A- 7001 E may be spaced apart from each other along the movable member to divide the travel of travel through which the drive unit 1672 drives the fingers 1540 .
- the controller 1220 may be connected to one or more of the registration device 7000 and detecting devices 7001 A- 7001 E and be configured to receive signals from these devices for detecting a position of each of the fingers 1540 as signals from the sensors transition from one detector to the next.
- the controller 1220 may be connected to one or more of the registration device 7000 and detecting devices 7001 A- 7001 E and be configured to receive signals from these devices for detecting a position of each of the fingers 1540 as signals from the sensors transition from one detector to the next.
- any suitable number of detectors may be used so that any suitable number of regions of travel are defined (e.g. two detectors can be used to define a region of travel including the full lift stroke of the fingers while additional detectors may be added to provide stopping points between the upper and lower extremes of the full lift stroke).
- the signal received by the controller may have a toothed or otherwise sine wave like profile that, for example, has a high value when the registration device 7000 is adjacent one of the detecting devices 7001 A- 7001 E and a low value when the registration device 7000 is between adjacent detecting devices 7001 A- 7001 E.
- the registration device(s) 7000 may be positioned adjacent the detector(s) 7001 E.
- the drive unit 1672 is actuated to move the selected fingers in the direction of arrow 1673 and the registration device(s) 7000 becomes adjacent detector(s) 7001 E, a high signal may be sent from the detector(s) 7001 E (while the other detectors 7001 A- 7001 D are providing a low signal) to the controller 1220 for a determination that the selected fingers 1540 are at the lowest position.
- the controller 1220 may send a command to the drive units 1672 for the selected fingers 1540 so that the drive units 1672 are stopped such that the fingers 1540 are located substantially at their lowest position.
- the drive units 1672 are actuated to move the finger in the direction of arrow 1673 and the registration device(s) 7000 becomes adjacent detector(s) 7001 A (e.g.
- a high signal may be sent from the detector(s) 7001 A (while the other detectors 7001 B- 7001 E provide a low signal) to the controller 1220 for a determination that the fingers 1540 are at their highest position.
- the controller 1220 may send a command to the drive units 1672 for the selected fingers 1540 so that the drive units 1672 are stopped such that the fingers 1540 are located substantially at their highest position.
- other detectors 7001 B- 7001 D may be positioned between the detectors 7001 A, 7001 E to provide other heights at which the fingers can be stopped in the manner described above.
- a single detector 7001 may be placed on the movable member 1535 and one or more registration members 7000 A- 7000 E may be placed on the mounting member 1671 adjacent one or more fingers 1540 .
- a signal may be sent to the controller 1220 by the detector 7001 when each of the registration members 7000 A- 7000 E becomes adjacent the detector 7001 .
- the controller 1220 may be configured to count or otherwise track which registration member 7000 A- 7000 E is adjacent the detector 7001 (such as in the manner described above with respect to FIG. 6A ) and send suitable commands to the drive unit(s) 1672 for stopping the finger(s) 1540 at a desired predetermined position (e.g.
- any suitable combination and types of registration members and detectors may be mounted to any suitable portions of the bot 110 and used for determining the lift height of the fingers 1540 .
- each drive unit 1672 may be configured to send signals to the controller 1220 for counting the number of revolutions (or a portion thereof) that the drive unit makes.
- the controller 1220 may also be configured to track the number of pulses used to drive, for example, the stepper motor drive unit 1672 .
- any suitable motor feedback or other information can be used to determine the lift position of each of the fingers 1540 .
- the bot 110 may include any suitable inertial sensor 899 for detecting, for example, a tilt ⁇ of the bot 110 from a horizontal plane, such as when the bot is located at a transfer station of the transfer deck 130 B.
- the inertial sensor 899 may allow for the stopping of a multilevel vertical conveyor 150 A, 150 B if contact is made between the bot and the conveyor or a case carried by the bot and the conveyor (or vice versa) such that the bot 110 tilts beyond a predetermined angle.
- the inertial sensor 899 may detect the tilt ⁇ and send a signal to, for example, the bot controller 1220 .
- the bot controller 1220 may send a corresponding signal to the control server 120 where the control server is configured to stop movement of the conveyor 150 A. It is noted that the inertial sensor 899 may also be configured to send a signal directly to the control server 120 .
- the control server 120 may communicate with the bot 110 and be configured to track the position of the bot 110 throughout the storage and retrieval system 100 (as described in, for example, U.S. patent application Ser. No. 12/757,337 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,594,835), U.S. patent application Ser. No. 14/089,434 filed on Nov. 25, 2013 (now U.S. Pat. No. 9,051,120) and U.S. patent application Ser. No.
- FIG. 8B illustrates contact between the bot transfer arm 1540 A and the shelf 720 of an outbound multilevel vertical conveyor 150 B such that the motion of the shelf 720 in the direction of arrow 998 causes the bot to tilt in a direction opposite that of FIG. 8A .
- Stopping of the outbound multilevel vertical conveyor 150 B and retraction of the transfer arm 1540 A may occur in substantially the same manner as that described above so that the bot 110 can free itself from contact with the outbound multilevel vertical conveyor 150 B.
- the bot 110 may be configured to time out (e.g. halt operation) upon detection that the tile ⁇ of the bot 110 has exceeded a predetermined amount of tilt so that any suitable corrective action can be taken such as the retracting of the transfer arm described above or to allow for manual intervention.
- an autonomous transport vehicle includes a transfer arm including at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member so that the finger support member moves in a first direction and the at least one finger moves relative to the finger support member in a second direction substantially perpendicular to the first direction.
- the autonomous transport vehicle includes at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger.
- the autonomous transport vehicle including a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.
- the other one of the registration member and detection member is mounted on the movable finger support.
- the at least one sensor is an optical, capacitive or inductive sensor.
- the registration member comprises a reflective flag or a magnetic source.
- the autonomous transport vehicle includes a drive unit for each of the at least one finger, where the controller is configured to actuate the drive unit for each of the at least one finger so each of the at least one finger are moved along the second direction substantially in unison.
- the drive unit for each of the at least one finger includes a stepper motor.
- the controller is configured to selectively move each of the at least one finger along the second direction depending on a size of a pickface carried by the autonomous transport vehicle.
- the autonomous transport vehicle includes an inertial sensor coupled to the controller, the inertial sensor being configured to detect a tilt of the autonomous transport vehicle relative to a horizontal plane.
- a storage and retrieval system having at least one multilevel vertical conveyor and at least one autonomous transport vehicle, the at least one autonomous transport vehicle including a controller and an inertial sensor configured to detect a tilt of the autonomous transport vehicle when the autonomous transport vehicle contacts a moving shelf of the at least one multilevel vertical conveyor, when the tilt exceeds a predetermined amount of tilt the controller is configured to at least in part effect stopping movement of the multilevel vertical conveyor.
- the storage and retrieval system further includes a control server in communication with the controller of the autonomous transport vehicle, the control server being configured to receive a signal from the controller regarding the tilt of the autonomous transport vehicle and to stop movement of the multilevel vertical conveyor.
- the autonomous transport vehicle further includes a transport arm for interacting with a moving shelf of the multilevel vertical conveyor, the controller being configured to cause a retraction of the transport arm substantially upon detection of the tilt exceeding the predetermined amount of tilt.
- an autonomous transport vehicle in accordance with a third aspect of the exemplary embodiments includes a transfer arm having a finger support member and a plurality of fingers movable coupled to the finger support member.
- the autonomous transport vehicle further includes a drive unit coupled to each of the plurality of fingers for independently moving a respective finger relative to the finger support member and a controller connected to each of the drive units for selectively actuating the drive units such that a single start or stop command from the controller causes activation or deactivation of the selected drive units in unison.
- each of the drive units includes a stepper motor and a linear actuator where the stepper motor is coupled to a respective one of the plurality of fingers through the linear actuator.
- the linear actuator comprises a ball screw.
- one or more of the plurality of fingers includes a sensor connected to the controller, the sensor being configured to send a signal to the controller indicating the one or more of the plurality of fingers are located at a predetermined position relative to the finger support member.
- the controller is configured to stop movement of the one or more of the plurality of fingers upon receipt of the signal indicating the one or more of the plurality of fingers are located at a predetermined position relative to the finger support member.
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Warehouses Or Storage Devices (AREA)
Abstract
An autonomous transport vehicle including a transfer arm including at least one finger and a movable finger support member, at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, and a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.
Description
This application is a continuation of U.S. patent application Ser. No. 13/326,993, filed on Dec. 15, 2011 (now U.S. Pat. No. 9,499,338) which is a non-provisional of and claims the benefit of U.S. Provisional Patent Application No. 61/423,388, filed on Dec. 15, 2010, the disclosures of which are incorporated by reference herein in their entireties.
1. Field
The embodiments generally relate to storage and retrieval systems and, more particularly, to autonomous transports of the storage and retrieval systems.
2. Brief Description of Related Developments
Warehouses for storing case units may generally comprise a series of storage racks that are accessible by transport devices such as, for example, fork lifts, carts and elevators that are movable within aisles between or along the storage racks or by other lifting and transporting devices. These transport devices may be automated or manually driven. Generally the items transported to/from and stored on the storage racks are contained in carriers, for example storage containers such as trays, totes or shipping cases, or on pallets.
When transporting the cases to and from the storage racks with automated transports it would be advantageous to be able to control fingers of the automated transports' transfer arms with a simplified drive system for picking and placing case units to storage locations or conveyor locations.
The foregoing aspects and other features of the disclosed embodiments are explained in the following description, taken in connection with the accompanying drawings, wherein:
In accordance with the embodiments the storage and retrieval system 100 may be substantially similar to that described in, for example, U.S. patent application Ser. No. 12/757,381 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,740,538), U.S. patent application Ser. No. 14/293,556 filed on Jun. 2, 2014, U.S. Provisional Patent Application No. 61/423,340 filed on Dec. 15, 2010, and U.S. patent application Ser. No. 13/326,674 filed on Dec. 15, 2011, the disclosures of which are incorporated by reference herein in their entireties and may operate in a retail distribution center or warehouse to, for example, fulfill orders received from retail stores for case units (where case units as used herein means items not stored in trays, on totes or on pallets, e.g. uncontained or items stored in trays, totes or on pallets). It is noted that the case units may include cases of items (e.g. case of soup cans, boxes of cereal, etc.) or individual items that are adapted to be taken off of or placed on a pallet. In accordance with the embodiments, shipping cases or case units (e.g. cartons, barrels, boxes, crates, jugs, totes, pallets or any other suitable device for holding case units) may have variable sizes and may be used to hold items in shipping and may be configured so they are capable of being palletized for shipping. It is noted that when, for example, bundles or pallets of case units arrive at the storage and retrieval system the content of each pallet may be uniform (e.g. each pallet holds a predetermined number of the same item—one pallet holds soup and another pallet holds cereal) and as pallets leave the storage and retrieval system the pallets may contain any suitable number and combination of different items (e.g. each pallet may hold different types of items—a pallet holds a combination of soup and cereal). It is noted that the storage and retrieval system described herein may be applied to any environment in which case units are stored and retrieved.
The storage and retrieval system 100 may be configured for installation in, for example, existing warehouse structures or adapted to new warehouse structures. The storage and retrieval system may include in-feed and out- feed transfer stations 170, 160, multilevel vertical conveyors 150A, 150B, a storage structure 130, and a number of autonomous transport vehicles or robots 110 (referred to herein as “bots”). It is noted that the storage and retrieval system may also include robot or bot transfer stations (as described in, for example, U.S. patent application Ser. No. 12/757,220 filed on Apr. 9, 2010 (now U.S. Pat. No. 9,096,375) and U.S. patent application Ser. No. 14/816,804 filed on Aug. 3, 2015, the disclosures of which are incorporated by reference herein in their entireties) that may provide an indirect interface between the bots 110 and the multilevel vertical conveyor 150A, 150B. The in-feed transfer stations 170 and out-feed transfer stations 160 may operate together with their respective multilevel vertical conveyors 150A, 150B for bi-directionally transferring case units to and from one or more levels of the storage structure 130. It is noted that while the multilevel vertical conveyors are described herein as being dedicated inbound or in-feed conveyors 150A and outbound or out-feed conveyors 150B, each of the conveyors 150A, 150B may be used for both inbound and outbound transfer of case units/items from the storage and retrieval system. The multilevel vertical conveyors may be any suitable lifting devices for transporting case units between levels of the storage and retrieval system. It is noted that while multilevel vertical conveyors are described herein in other aspects the conveyors may be any suitable conveyors or transfer/picking devices having any suitable transport path orientation. Some non-limiting suitable examples of multilevel vertical conveyors can be found in U.S. Provisional Patent Application No. 61/423,298 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,088 filed on Dec. 15, 2011 (now U.S. Pat. No. 8,998,554),U.S. patent application Ser. No. 14/679,535 filed on Apr. 6, 2015 (now U.S. Pat. No. 9,371,183) and U.S. patent application Ser. No. 12/757,354, filed on Apr. 9, 2010 the disclosures of which are incorporated by reference herein in their entireties and U.S. patent application Ser. No. 12/757,220 filed on Apr. 9, 2010 (now U.S. Pat. No. 9,096,375) and U.S. patent Ser. No. 14/816,804 filed on Aug. 3, 2015 (previously incorporated by reference). For example, the multilevel vertical conveyors may have any suitable number of support shelves for transporting the case units to a predetermined level of the storage and retrieval system. The support shelves may have slatted supports configured to allow fingers of the bots 110 or in-feed/out- feed transfer stations 170, 160 to pass between the slats for transferring case units to and from the conveyor. It is noted that in the embodiments the transfer of case units between the bots 110 and the multilevel vertical conveyors may occur in any suitable manner.
As may be realized, the storage and retrieval system 100 may include multiple in-feed and out-feed multilevel vertical conveyors 150A, 150B that are accessible by, for example, bots 110 on each level of the storage and retrieval system 100 so that one or more case unit(s) can be transferred from a multilevel vertical conveyor 150A, 150B to each storage space on a respective level and from each storage space to any one of the multilevel vertical conveyors 150A, 150B on a respective level. The bots 110 may be configured to transfer the case units between the storage spaces and the multilevel vertical conveyors with one pick (e.g. substantially directly between the storage spaces and the multilevel vertical conveyors). By way of further example, the designated bot 110 picks the case unit(s) from a shelf of a multilevel vertical conveyor, transports the case unit(s) to a predetermined storage area of the storage structure 130 and places the case unit(s) in the predetermined storage area (and vice versa).
The bots 110 may be configured to place case units, such as the above described retail merchandise, into picking stock in the one or more levels of the storage structure 130 and then selectively retrieve ordered items for shipping the ordered items to, for example, a store or other suitable location. In the embodiments, the bots 110 may interface in any suitable manner with the multilevel vertical conveyors 150A, 150B such as through, for example, extension of a transfer arm or effector of the bot (which may have fingers for interfacing with slatted support shelves of the multi-level vertical conveyors) relative to a frame of the bot. Suitable examples of bots are described in U.S. patent application Ser. No. 12/757,312, and filed on Apr. 9, 2010 (now U.S. Pat. No. 8,425,173),U.S. patent application Ser. No. 13/860,802 filed on Apr. 11, 2013 (now U.S. Pat. No. 9,321,591), U.S. patent application Ser. No. 15/137,889 filed on Apr. 25, 2016, U.S. Provisional Patent Application No. 61/423,220 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,040 filed on Dec. 15, 2011 (now U.S. Pat. No. 9,187,244, U.S. patent application Ser. No. 14/942,717 filed on Nov. 16, 2015, U.S. Provisional Patent Application No. 61/423,365 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/326,952 F filed on Dec. 15, 2011, U.S. Provisional Patent Application No. 61/423,359 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/326,447 filed on Dec. 15, 2011 (now U.S. Pat. No. 8,965,619), U.S. patent application Ser. No. 14/629,003 filed on Feb. 23, 2015, and U.S. Provisional Patent Application No. 61/423,206 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,035 filed on Dec. 15, 2011 (now U.S. Pat. No. 9,008,884), U.S. patent application Ser. No. 14/684,715 filed on Apr. 13, 2015 (now U.S. Pat. No. 9,309,050) and U.S. patent application Ser. No. 15/094,214 filed on Apr. 8, 2016 the disclosures of which are incorporated by reference herein in their entireties.
The storage structure 130 may include multiple levels of storage rack modules where each level includes an array of storage spaces (arrayed on the multiple levels and in multiple rows on each level), picking aisles 130A formed between the rows of storage spaces, and transfer decks 130B. It is noted that each level may also include respective bot transfer stations for providing an indirect interface between the bots and the multilevel vertical conveyors. In the embodiments, the picking aisles 130A and transfer decks 130B may be arranged for allowing the bots 110 to traverse respective levels of the storage structure 130 for placing case units into picking stock and to retrieve the ordered case units. As may be realized, the storage and retrieval system may be configured to allow random accessibility to the storage spaces. For example, all storage spaces in the storage structure 130 may be treated substantially equally when determining which storage spaces are to be used when picking and placing case units from/to the storage structure 130 such that any storage space of sufficient size can be used to store items. The storage structure 130 of the embodiments may also be arranged such that there is no vertical or horizontal array partitioning of the storage structure. For example, each multilevel vertical conveyor 150A, 150B is common to all storage spaces (e.g. the array of storage spaces) in the storage structure 130 such that any bot 110 can access each storage space and any multilevel vertical conveyor 150A, 150B can receive case units from any storage space on any level so that the multiple levels in the array of storage spaces substantially act as a single level (e.g. no vertical partitioning). The multilevel vertical conveyors 150A, 150B can also receive case units from any storage space on any level of the storage structure 130 (e.g. no horizontal partitioning). It is noted that the storage and retrieval system may also be configured so that each multilevel vertical conveyor serves a predetermined area of the array of storage spaces.
The storage structure 130 may also include charging stations 130C for replenishing, for example, a battery pack of the bots 110. The charging stations 130C may be located at, for example, transfer areas 295 (FIG. 2 ) of the transfer deck 130B so that the bots 110 can substantially simultaneously transfer items, for example, to and from a multilevel vertical conveyor 150A, 150B while being charged. The bots 110 and other suitable features of the storage and retrieval system 100 may be controlled by, for example, one or more central system control computers (e.g. control server) 120 through, for example, any suitable network 180. The network 180 may be a wired network, a wireless network or a combination of a wireless and wired network using any suitable type and/or number of communication protocols. It is noted that, in the embodiments, the system control server 120 may be configured to manage and coordinate the overall operation of the storage and retrieval system 100 and interface with, for example, a warehouse management system 125, which in turn manages the warehouse facility as a whole. The control server 120 may be substantially similar to that described in, for example, U.S. patent application Ser. No. 12/757,337 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,594,835), U.S. patent application Ser. No. 14/089,434 filed on Nov. 25, 2013 (now U.S. Pat. No. 9,051,120) and U.S. patent application Ser. No. 14/733,341 filed on Jun. 8, 2015 the disclosures of which are incorporated by reference herein in their entireties.
Referring to FIGS. 1, 2A and 2B , the storage structure 130 may hold the picking stock on storage shelves 600 that are separated by picking aisle spaces 130A. In the embodiments the storage shelves 600 may be substantially similar to those described in, for example, U.S. patent application Ser. No. 12/757,220 filed on Apr. 9, 2010 (now U.S. Pat. No. 9,096,375), U.S. patent application Ser. No. 14/816,804 filed on Aug. 3, 2015, U.S. patent application Ser. No. 12/757,381 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,740,538) and U.S. patent application Ser. No. 14/293,556 filed on Jun. 2, 2014 (which are previously incorporated by reference). For example, the storage shelves 600 may include one or more support legs 620L1, 620L2 extending from, for example, the horizontal supports 610, 611, 613 (which are supported by vertical supports 612). The support legs 620L1, 620L2 may have any suitable configuration and may be part of, for example, a substantially U-shaped channel 620 such that the legs are connected to each other through channel portion 620B. The channel portion 620B may provide an attachment point between the channel 620 and one or more horizontal supports 610, 611, 613. It is noted that each support leg 620L1, 620L2 may also be configured to individually mount to the horizontal supports 610, 611, 613. In the embodiments, each support leg 620L1, 620L2 includes a bent portion 620H1, 620H2 having a suitable surface area configured to support case units stored on the shelves 600. The bent portions 620H1, 620H2 may be configured to substantially prevent deformation of the case units stored on the shelves. The leg portions 620H1, 620H2 may have a suitable thickness or have any other suitable shape and/or configuration for supporting case units stored on the shelves. As can be seen in FIGS. 2A and 2B , the support legs 620L1, 620L2 or channels 620 may form a slatted or corrugated shelf structure where spaces 620S between, for example, the support legs 620L1, 620L2 allow for arms or fingers of the bots 110 to reach into the shelving for transferring case units to and from the shelves. It is also noted that transfer of items to and from the multilevel vertical conveyors 150A, 150B (whether the transfer is made directly or indirectly by the bot 110) may occur in a substantially similar manner to that described above with respect to the storage shelves 600. It is noted that in the embodiments the spacing between the case units on the shelves may be any suitable spacing. It is also noted that transfer of case units to and from the multilevel vertical conveyors 150A, 150B (whether the transfer is made directly or indirectly by the bot 110) may occur in a substantially similar manner to that described above with respect to storage shelves 600.
Referring to FIG. 3 an exemplary bot 110 is shown. The bot 110 includes a longitudinally extended frame 110F that has a first end 1500 and a second end 1501 where the longitudinal axis 6000 extends from the first end 1500 to the second end 1501. At least one drive section 110D may be coupled to one of the first and/or second ends 1500, 1501 in any suitable manner for driving the bot 110 along the transfer deck(s) 130B and picking aisles 130A (FIG. 1 ). The drive section 110D may include drive wheels, tracks or any other suitable drive mechanism for effecting travel of the bot along the transfer deck(s) 130B and picking aisles 130A. The other end of the bot 110 may have any suitable supports, such as caster wheels, fixed wheels, steerable wheels, and similar mechanisms for movably supporting the bot 110 as it travels along the transfer deck(s) 130B and picking aisles 130A. The bot 110 may have any suitable controller 1220 (FIG. 1 ) for effecting operation of the bot 110 (as described herein) and/or communication between the bot 110 and the control server 120 (FIG. 1 ). As may be realized the configuration of the bot shown in the drawings is merely exemplary and it is noted that the bot may have any suitable configuration for carrying out the detection and positioning of case units relative to the bot 110 as described herein.
The frame 110F of the bot 110 forms a payload bed 1510 that is configured to hold case units (or a pickface where a pickface is one or more cases that are to be picked and carried by the bot 110) or any other suitable payload. The payload bed 1510 may include any suitable pickface support surface. One example, of the pickface support surface is the roller bed described in, for example, U.S. Provisional Patent Application No. 61/423,220 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/327,040 filed on Dec. 15, 2011 (now U.S. Pat. No. 9,187,244) and U.S. patent application Ser. No. 14/942,717 filed on Nov. 16, 2015, previously incorporated by reference herein. A fence 1510F may be located at a side opening 1510P of the payload bed 1510. The fence 1510F may be attached to the frame 110F in any suitable manner such as with fasteners or welding. It is noted that the fence 1510F may also form part of the frame 110F or be of unitary construction with the frame 110F. In the embodiments the fence may include slots 1510FS disposed between stopping members 1510FM. The slots 1510FS may be configured to allow fingers 1540 of the bot arm to extend through the fence 1510F between the stopping members 1510FM in a substantially lowered position so that fingers 1540 of a transfer arm 1540A can be, for example, extended into a storage shelf 600 (e.g. between the slats in the storage shelf) below a pickface. The stopping members 1510FM may be configured to extend above the payload bed 1510 to form a barrier that substantially prevents case units from exiting the payload bed 1510 once the case units are positioned on the payload bed 1510. In this example, the number of slots 1510FS is equal to the number of fingers 1540 but it should be understood that in the embodiments the fence 1510F may be configured such that more than one finger 1540 passes through a single slot (e.g. the number of slots is less than the number of fingers). It should be noted that the fence may have any suitable configuration for preventing case units from exiting the payload area when the case units are carried by the bot 110. For example, the fence may be movable so that the stopping members are retractable such that when in an extended configuration the fence prevents the case units from exiting the payload area.
Referring also to FIG. 4 , the bot 110 may include a transfer arm or end effector 1540A. The transfer arm 1540A may include fingers 1540 and a finger support or movable member 1535. The fingers 1540 may extend substantially laterally relative to the longitudinal axis 6000 of the bot and be configured to interface with, for example, the slatted shelf structure of the storage shelves 600 (FIGS. 2A and 2B ) and the slatted support shelves 720 of the multilevel vertical conveyors (FIG. 7 ). The fingers 1540 are capable of movement in the direction of arrow 1673 (e.g. in a direction substantially perpendicular to the direction 1550 of extension and retraction of the transfer arm 1540A) between a lowered position and a raised position. It is noted that when in a fully lowered position (e.g. the lowest point of travel allowed by a finger drive unit 1672 in FIG. 5 ) the fingers 1540 may be disposed below a surface of the payload bed 1510 or the fingers may form at least a portion of the payload bed. When the fingers are in a fully raised position (e.g. the highest point of travel allowed by the finger drive unit 1672) the fingers are located above the fence stopping members 1510FM so that pickfaces can be transferred to and from the payload area of the bot 110. The fingers may be driven by any suitable drive, as described below, for lifting pickfaces disposed on the fingers over the fence 1510F and into/out of the payload bed 1510 of the bot 110.
Referring to FIGS. 4 and 5 , each finger 1540 may include a mounting member 1671 and an arm portion 1541 having a first end 598 and a second end 599. The mounting member 1671 may be coupled to the first end 598 of the arm portion 1541 while the second end 599 is distally located from the mounting member 1671. Each finger 1540 may be movably coupled, in a cantilevered manner, to the movable member 1535 so that the fingers may be extended and retracted (e.g. via lateral movement of the movable member 1535) in the direction of arrow 1550 relative to the payload bed 1510 for interacting with, for example, the slats of the storage shelves 600 and the slatted shelves 720 (FIG. 7 ) of the multilevel vertical conveyors 150A, 150B. For example, the mounting member 1671 of each finger 1540 extends from the first end 598 of the finger 1540. It is noted that while the finger 1540 is shown as being constructed of different parts 1541, 1671, the finger 1540 may have a unitary one-piece construction. The movable member 1535 may include guides 1670 where each mounting member 1671 and a respective guide 1670 are configured such that the mounting member 1671 is slidable along the guide 1670 in the direction of arrow 1673 (e.g. along a lift axis that is substantially perpendicular to the direction 1550 of lateral travel of the transfer arm 1540A). In the embodiments the guides 1670 are shown as rails but it is noted that the guides may be any suitable member for allowing a respective finger 1540 to controllably move relative to, for example, the movable member 1535 in the direction of arrow 1673.
At least one drive unit 1672 may be mounted to the movable member 1535 and be coupled to the first end of one or more fingers 1540 in any suitable manner for driving the one or more fingers along the guides 1670 in the direction of arrow 1673. It is noted that the at least one drive unit 1672 may be coupled to any portion of the one or more fingers 1540 for driving the fingers along guides 1670. In the embodiments, each finger 1540 may have a respective drive unit 1672 so that each finger 1540 can be independently raised and lowered or a single drive unit may drive more than one finger along its respective guide (or e.g. some fingers may individually moveable while others are movable in groups). The drive unit 1672 may be any suitable drive unit capable of driving the finger(s) along the lift axis in the direction of arrow 1673. The drive may include a stepper motor 1672D configured to drive any suitable linear actuator such as, for example, a ball screw 1672S. The drive unit may also include any suitable motor that allows for tracking the number of revolutions or partial revolutions of the motor. It is noted that the drive unit and guide may be incorporated with each other as a unit such as, for exemplary purposes only, a chain/belt and sprocket/pulley where the chain or belt is arranged to carry the finger in the direction of arrow 1673. In the embodiments, each drive unit 1672 may be selectable by, for example, the bot controller 1220 (or any other suitable controller such as for example control server 120) and independently operable for lifting a respective finger 1540. The drive unit 1672 may be coupled to, for example, the first end 598 of the finger 1540 by any suitable coupling 1672C. In the embodiments each drive unit 1672 may be selectably coupled to the respective finger 1540 by releasable couplings (e.g. mechanical, magnetic, etc.) or the drive units 1672 may be substantially permanently coupled to the respective fingers such as through a pivotable, rotatable, or otherwise movable joint or coupling.
Each drive unit 1672 may be suitably connected to, for example, the bot controller 1220 or any other suitable controller (such as for exemplary purposes only the control server 120) for causing lifting movement of the fingers 1540 as described herein. The bot controller 1220 may be configured to selectively actuate each of the drive units 1672 for lifting and lowering any desired number of fingers 1540 in unison. For example, a size of a pickface to be picked by the bot 110 can be determined in any suitable manner, such as through sensors located on the bot or any suitable table or other information stored in a memory of the bot controller 1220, control server 120, warehouse management system 2500 or any other suitable memory. Depending on the size of the pickface, a suitable number of fingers 1540 may be selected for actuation so that the pickface is substantially uniformly supported by the fingers 1540 of the transfer arm 1540A. The controller 1220 may be configured to send start and stop commands to the motors 1672D for the selected fingers 1540 to drive the motors 1672D through the same angle of rotation causing the selected fingers 1540 to be lifted (or lowered) in unison so that the selected fingers 1540 are substantially at the same height and start/stop movement substantially at the same time. It is noted that the motors 1672D may be ganged to the controller 1220 so that the controller 1220 can select which motors 1672D are to be commanded, e.g. placed in an operational state or an idle state (FIG. 9 , Block 18000). As may be realized, the ganged connection between the motors 1672D and the controller 1220 allows for operation of the selected motors with but one command signal for starting and stopping the selected motors (FIG. 9 , Block 18010). Operation of the motors 1672D with but one start/stop command signal allows the selected motors to start and stop substantially at the same time and hence, generate substantially the same rotation. It is noted that any suitable sensors on the fingers (as will be described below) may provide positional data but this positional data may not be needed for a closed loop position feedback system such as formed by the ganged motors 1672D (e.g. stepper motor feedback) and the controller. In one aspect the finger sensors (described below) may be used to confirm the position of the fingers as determined by the closed loop feedback system. In other aspects the finger sensors may be an open loop system may be used in lieu of or in addition to the closed loop feedback system.
Referring to FIGS. 2-5 and 7 , a case unit contact member 1530 may be movably located at least partially within the payload area where the case unit contact member is releasably coupled to the movable member 1535 for causing the extension and retraction of the transfer arm 1540A in the direction of arrow 1550 in the manner described in, for example, U.S. Provisional Patent Application No. 61/423,365 filed on Dec. 15, 2010, U.S. patent application Ser. No. 13/326,952 filed on Dec. 15, 2011, previously incorporated by reference herein. In operation, as the bot 110 is picking or placing pickfaces to the multilevel vertical conveyors 150A, 150B the only items (which in this example is pickface 8003) on the shelf 720 of the conveyor may be those that are picked or placed by the bot 110. On the other hand, when a bot 110 is picking or placing a pickface 8003 to a storage shelf 600, other pickfaces 8001, 8002 may be located adjacent the location 8000 to which the bot is picking from or placing to. As may be realized, the controller 1220 of the bot 110 may be configured to treat the transfer of items from/to the conveyors 150A, 150B different from the transfer of items from/to the storage shelf 600. For example, when transferring pickfaces from/to the conveyors 150A, 150B the bot may cause all of the fingers 1540 of the bot to be lifted above, for example, the fence stop members 1510FM for transferring a pickface. As the only item on the conveyor shelf 720 is the pickface 8003 transferred to/from the bot 110 the lifting and extension of all of the fingers 1540 will not interfere with any other items on the conveyors 150A, 150B. Lifting and extension of all the fingers 1540 would also substantially ensure the distributed support of the pickface 8003 being picked from an inbound conveyor 150A by the fingers 1540 where the position of the pickface on the conveyor shelf 720 may not be known. When transferring pickfaces from/to the storage shelf 600 at, for example, pickface location 8000 lifting of all of the fingers 1540 for extension into the storage shelf 600 may result in contact with pickfaces 8001, 8002 adjacent the location 8000. As may be realized, only the fingers 1540U (FIG. 4 ) that are supporting the pickface 8003 to be transferred to the shelf 600 may be lifted while the remaining fingers 1540L remain in a substantially lowered position so that as the pickface 8003 is transferred to pickface location 8000 the fingers 1540L not supporting the pickface 8003 are inserted into the shelf 600 beneath (and do not contact) the pickfaces 8001, 8002. It is noted that in the embodiments the storage shelves and/or conveyor shelves may be configured such that the extension of the transfer arm 1540A may be treated the same for the transfer of case units between the bot and both of the storage shelves and the multilevel vertical conveyors.
The lift position or height of each of the fingers 1540 can be determined in any suitable manner. Referring to FIG. 6A , a lift position sensor may be positioned along side the lift axis of one or more fingers 1540 for determining/tracking a position of the one or more fingers 1540. The lift position sensor may include a registration device 7000 and one or more detection devices 7001A-7001E. In one example, the registration device 7000 may be mounted to the mounting member 1671 and one or more detecting devices 7001A-7001E may be mounted to movable member 1535. In the embodiments the registration device and detecting devices may be beam (or optical) sensors, capacitive or inductive sensors, or any other suitable type of sensor that will allow for detection of the movement of the mounting member 1671 relative to, for example the movable member 1535. For exemplary purposes only, the registration device 7000 may be a reflective flag in the case of an optical sensor and magnetic/electrical members in the case of capacitance or inductance sensors. It is noted that in the embodiments the registration devices may be any suitable devices that are capable of being detected by the detection devices. The detection devices 7001A-7001E may be spaced apart from each other along the movable member to divide the travel of travel through which the drive unit 1672 drives the fingers 1540. The controller 1220, for example, may be connected to one or more of the registration device 7000 and detecting devices 7001A-7001E and be configured to receive signals from these devices for detecting a position of each of the fingers 1540 as signals from the sensors transition from one detector to the next. As may be realized, while four regions of travel are defined in this example by the five detectors 7001A-7001E, it is noted that any suitable number of detectors may be used so that any suitable number of regions of travel are defined (e.g. two detectors can be used to define a region of travel including the full lift stroke of the fingers while additional detectors may be added to provide stopping points between the upper and lower extremes of the full lift stroke). As may also be realized the signal received by the controller may have a toothed or otherwise sine wave like profile that, for example, has a high value when the registration device 7000 is adjacent one of the detecting devices 7001A-7001E and a low value when the registration device 7000 is between adjacent detecting devices 7001A-7001E.
In one example, when the fingers 1540 selected for activation are substantially at the lowest position (so that the fingers are located beneath the payload bed 1510) the registration device(s) 7000 may be positioned adjacent the detector(s) 7001E. For example, as the drive unit 1672 is actuated to move the selected fingers in the direction of arrow 1673 and the registration device(s) 7000 becomes adjacent detector(s) 7001E, a high signal may be sent from the detector(s) 7001E (while the other detectors 7001A-7001D are providing a low signal) to the controller 1220 for a determination that the selected fingers 1540 are at the lowest position. When the controller 1220 receives the signal from detector(s) 7001E the controller 1220 may send a command to the drive units 1672 for the selected fingers 1540 so that the drive units 1672 are stopped such that the fingers 1540 are located substantially at their lowest position. Similarly, for example, as the drive units 1672 are actuated to move the finger in the direction of arrow 1673 and the registration device(s) 7000 becomes adjacent detector(s) 7001A (e.g. the fingers are substantially at the highest position so that the fingers are above the fence stop members 1510FM for transporting pickfaces to and from the payload bed 1510) a high signal may be sent from the detector(s) 7001A (while the other detectors 7001B-7001E provide a low signal) to the controller 1220 for a determination that the fingers 1540 are at their highest position. When the controller 1220 receives the signal from detector(s) 7001A the controller 1220 may send a command to the drive units 1672 for the selected fingers 1540 so that the drive units 1672 are stopped such that the fingers 1540 are located substantially at their highest position. As may be realized, other detectors 7001B-7001D may be positioned between the detectors 7001A, 7001E to provide other heights at which the fingers can be stopped in the manner described above.
Referring to FIG. 6B , a single detector 7001 may be placed on the movable member 1535 and one or more registration members 7000A-7000E may be placed on the mounting member 1671 adjacent one or more fingers 1540. As the selected finger(s) 1540 are moved in the direction of arrow 1673 a signal may be sent to the controller 1220 by the detector 7001 when each of the registration members 7000A-7000E becomes adjacent the detector 7001. The controller 1220 may be configured to count or otherwise track which registration member 7000A-7000E is adjacent the detector 7001 (such as in the manner described above with respect to FIG. 6A ) and send suitable commands to the drive unit(s) 1672 for stopping the finger(s) 1540 at a desired predetermined position (e.g. when the fingers are at their highest position for transferring pickfaces to and from the payload bed, when the fingers are at their lowest position beneath the payload bed, or any suitable position therebetween). It is noted that any suitable combination and types of registration members and detectors may be mounted to any suitable portions of the bot 110 and used for determining the lift height of the fingers 1540.
It is also noted that the location of each of the fingers in the direction of arrow 1673 along the lift axis may be determined from drive unit feedback. For example, each drive unit 1672 may be configured to send signals to the controller 1220 for counting the number of revolutions (or a portion thereof) that the drive unit makes. The controller 1220 may also be configured to track the number of pulses used to drive, for example, the stepper motor drive unit 1672. As may be realized any suitable motor feedback or other information can be used to determine the lift position of each of the fingers 1540.
Referring to FIGS. 1, 8A and 8B the bot 110 may include any suitable inertial sensor 899 for detecting, for example, a tilt α of the bot 110 from a horizontal plane, such as when the bot is located at a transfer station of the transfer deck 130B. The inertial sensor 899 may allow for the stopping of a multilevel vertical conveyor 150A, 150B if contact is made between the bot and the conveyor or a case carried by the bot and the conveyor (or vice versa) such that the bot 110 tilts beyond a predetermined angle. FIG. 8A illustrates contact between the bot transfer arm 1540A and the shelf 720 of an inbound multilevel vertical conveyor 150A (due to, for exemplary purposes only, a misalignment between fingers of the bot arm and the fingers of the conveyor shelf) such that the motion of the shelf 720 in the direction of arrow 998 causes the bot to tilt. Another instance that may cause the bot to tilt is if the bot arm 1540A is extended too early and a case on either the bot arm or the conveyor shelf prevents the fingers of the bot arm and conveyor shelf from inter-meshing with one another. The inertial sensor 899 may detect the tilt α and send a signal to, for example, the bot controller 1220. The bot controller 1220 may send a corresponding signal to the control server 120 where the control server is configured to stop movement of the conveyor 150A. It is noted that the inertial sensor 899 may also be configured to send a signal directly to the control server 120. The control server 120 may communicate with the bot 110 and be configured to track the position of the bot 110 throughout the storage and retrieval system 100 (as described in, for example, U.S. patent application Ser. No. 12/757,337 filed on Apr. 9, 2010 (now U.S. Pat. No. 8,594,835), U.S. patent application Ser. No. 14/089,434 filed on Nov. 25, 2013 (now U.S. Pat. No. 9,051,120) and U.S. patent application Ser. No. 14/733,341 filed on Jun. 8, 2015, the disclosures of previously incorporated by reference herein) such that the conveyor 150A interacting with the tilting bot 110 can be identified and stopped. In response to the inertial sensor 899 detecting the tilt α of the bot 110, the bot controller 1220 may cause the transfer arm 1540A to be retracted so that the bot 110 can free itself from contact with the conveyor 150A and restore itself to a horizontal orientation. FIG. 8B illustrates contact between the bot transfer arm 1540A and the shelf 720 of an outbound multilevel vertical conveyor 150B such that the motion of the shelf 720 in the direction of arrow 998 causes the bot to tilt in a direction opposite that of FIG. 8A . Stopping of the outbound multilevel vertical conveyor 150B and retraction of the transfer arm 1540A may occur in substantially the same manner as that described above so that the bot 110 can free itself from contact with the outbound multilevel vertical conveyor 150B. It is noted that the bot 110 may be configured to time out (e.g. halt operation) upon detection that the tile α of the bot 110 has exceeded a predetermined amount of tilt so that any suitable corrective action can be taken such as the retracting of the transfer arm described above or to allow for manual intervention.
In accordance with a first aspect of the disclosed embodiments, an autonomous transport vehicle is provided. The transport vehicle includes a transfer arm including at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member so that the finger support member moves in a first direction and the at least one finger moves relative to the finger support member in a second direction substantially perpendicular to the first direction. The autonomous transport vehicle includes at least one sensor configured to detect movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger. The autonomous transport vehicle including a controller in communication with the at least one sensor, the controller being configured to determine a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member.
In accordance with the first aspect of the disclosed embodiments, the other one of the registration member and detection member is mounted on the movable finger support.
In accordance with the first aspect of the disclosed embodiments, the at least one sensor is an optical, capacitive or inductive sensor.
In accordance with the first aspect of the disclosed embodiments, the registration member comprises a reflective flag or a magnetic source.
In accordance with the first aspect of the disclosed embodiments, the autonomous transport vehicle includes a drive unit for each of the at least one finger, where the controller is configured to actuate the drive unit for each of the at least one finger so each of the at least one finger are moved along the second direction substantially in unison.
In accordance with the first aspect of the disclosed embodiments, the drive unit for each of the at least one finger includes a stepper motor.
In accordance with the first aspect of the disclosed embodiments, the controller is configured to selectively move each of the at least one finger along the second direction depending on a size of a pickface carried by the autonomous transport vehicle.
In accordance with the first aspect of the disclosed embodiments, the autonomous transport vehicle includes an inertial sensor coupled to the controller, the inertial sensor being configured to detect a tilt of the autonomous transport vehicle relative to a horizontal plane.
In accordance with a second aspect of the disclosed embodiments, a storage and retrieval system is provided, the storage and retrieval system having at least one multilevel vertical conveyor and at least one autonomous transport vehicle, the at least one autonomous transport vehicle including a controller and an inertial sensor configured to detect a tilt of the autonomous transport vehicle when the autonomous transport vehicle contacts a moving shelf of the at least one multilevel vertical conveyor, when the tilt exceeds a predetermined amount of tilt the controller is configured to at least in part effect stopping movement of the multilevel vertical conveyor.
In accordance with the second aspect of the disclosed embodiments, the storage and retrieval system further includes a control server in communication with the controller of the autonomous transport vehicle, the control server being configured to receive a signal from the controller regarding the tilt of the autonomous transport vehicle and to stop movement of the multilevel vertical conveyor.
In accordance with the second aspect of the disclosed embodiments, the autonomous transport vehicle further includes a transport arm for interacting with a moving shelf of the multilevel vertical conveyor, the controller being configured to cause a retraction of the transport arm substantially upon detection of the tilt exceeding the predetermined amount of tilt.
In accordance with a third aspect of the exemplary embodiments an autonomous transport vehicle is provided. The autonomous transport vehicle includes a transfer arm having a finger support member and a plurality of fingers movable coupled to the finger support member. The autonomous transport vehicle further includes a drive unit coupled to each of the plurality of fingers for independently moving a respective finger relative to the finger support member and a controller connected to each of the drive units for selectively actuating the drive units such that a single start or stop command from the controller causes activation or deactivation of the selected drive units in unison.
In accordance with the third aspect of the exemplary embodiments, each of the drive units includes a stepper motor and a linear actuator where the stepper motor is coupled to a respective one of the plurality of fingers through the linear actuator.
In accordance with the third aspect of the exemplary embodiments, the linear actuator comprises a ball screw.
In accordance with the third aspect of the exemplary embodiments, wherein one or more of the plurality of fingers includes a sensor connected to the controller, the sensor being configured to send a signal to the controller indicating the one or more of the plurality of fingers are located at a predetermined position relative to the finger support member.
In accordance with the third aspect of the exemplary embodiments, the controller is configured to stop movement of the one or more of the plurality of fingers upon receipt of the signal indicating the one or more of the plurality of fingers are located at a predetermined position relative to the finger support member.
It should be understood that the exemplary embodiments disclosed herein can be used individually or in any suitable combination thereof. It should also be understood that the foregoing description is only illustrative of the embodiments. Various alternatives and modifications can be devised by those skilled in the art without departing from the embodiments. Accordingly, the present embodiments are intended to embrace all such alternatives, modifications and variances that fall within the scope of the appended claims.
Claims (20)
1. A method for operating an automated storage and retrieval system, the method comprising:
providing an autonomous transport vehicle having a transfer arm including at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member;
moving the finger support member in a first direction relative to a reference frame of the autonomous transport vehicle and moving the at least one finger linearly relative to the finger support member in a second direction substantially perpendicular to both the first direction in the reference frame of the autonomous transport vehicle and a travel surface on which the autonomous transport vehicle travels;
detecting, with at least one sensor, indexed movement of the at least one finger in the second direction relative to the movable finger support member, where the at least one sensor includes a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be linearly movable with and by movement of a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, where relative position between the registration member and detection member defines more than two indexed positions of the at least one finger; and
determining, with a controller in communication with the at least one sensor, a position of the at least one finger, along the second direction relative to the movable finger support member, based on a proximity of the registration member relative to the detection member.
2. The method of claim 1 , wherein the other one of the registration member and detection member is mounted on the movable finger support.
3. The method of claim 1 , wherein the at least one sensor is an optical, capacitive or inductive sensor.
4. The method of claim 1 , wherein the registration member comprises a reflective flag or a magnetic source.
5. The method of claim 1 , further comprising:
providing the autonomous transport vehicle with a drive unit for each of the at least one finger; and
actuating, with the controller, the drive unit for each of the at least one finger so each of the at least one finger are moved along the second direction substantially in unison.
6. The method of claim 1 , wherein the drive unit for each of the at least one finger includes a stepper motor.
7. The method of claim 1 , further comprising:
providing the autonomous transport vehicle with an inertial sensor coupled to the controller; and
detecting, with the inertial sensor, a tilt of the autonomous transport vehicle relative to a horizontal plane.
8. A method of operating an automated storage and retrieval system, the method comprising:
providing an autonomous transport vehicle having a transfer arm including at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member;
moving the finger support member in a first direction and moving the at least one finger relative to the finger support member in a second direction substantially perpendicular to the first direction;
detecting movement of the at least one finger with at least one sensor, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be movable with a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger;
determining, with a controller in communication with the at least one sensor, a position of the at least one finger along the second direction based on a proximity of the registration member relative to the detection member; and
selectively moving, with the controller, each of the at least one finger along the second direction depending on a size of a pickface carried by the autonomous transport vehicle.
9. The method of claim 8 , wherein the at least one sensor includes a registration member and a detection member, and one of the registration member and the detection member is mounted to each of the at least one finger and other one of the registration member and detection member is mounted on the movable finger support.
10. The method of claim 8 , wherein the registration member comprises a reflective flag or a magnetic source.
11. The method of claim 8 , wherein the at least one sensor is an optical, capacitive or inductive sensor.
12. The method of claim 8 , further comprising:
providing the autonomous transport vehicle with a drive unit for each of the at least one finger; and
actuating, with the controller, the drive unit for each of the at least one finger so each of the at least one finger are moved along the second direction substantially in unison.
13. The method of claim 12 , wherein the drive unit for each of the at least one finger includes a stepper motor.
14. The method of claim 8 , further comprising:
providing the autonomous transport vehicle with an inertial sensor coupled to the controller; and
detecting, with the inertial sensor, a tilt of the autonomous transport vehicle relative to a horizontal plane.
15. A method of operating an automated storage and retrieval system, the method comprising:
providing an autonomous transport vehicle having a transfer arm that includes at least one finger and a movable finger support member, the at least one finger being movably coupled to the finger support member;
moving the finger support member in a first direction and moving the at least one finger linearly relative to the finger support member in a second direction substantially perpendicular to both the first direction and a travel surface on which the autonomous transport vehicle travels;
detecting, with at least one sensor, indexed movement of the at least one finger, the at least one sensor having a registration member and a detection member where one of the registration member and detection member is mounted to each of the at least one finger so as to be linearly movable with and by movement of a respective one of the at least one finger and the other one of the registration member and detection member is stationary relative to the at least one finger, where relative position between the registration member and detection member defines more than two indexed positions of the at least one finger; and
determining, with a controller in communication with the at least one sensor, a position of the at least one finger, along the second direction, based on a proximity of the registration member relative to the detection member;
wherein the other one of the registration member and detection member is mounted on the movable finger support.
16. The method of claim 15 , wherein the at least one sensor is an optical, capacitive or inductive sensor.
17. The method of claim 15 , wherein the registration member comprises a reflective flag or a magnetic source.
18. The method of claim 15 , further comprising:
providing the autonomous transport vehicle with a drive unit for each of the at least one finger; and
actuating, with the controller, the drive unit for each of the at least one finger so each of the at least one finger are moved along the second direction substantially in unison.
19. The method of claim 15 , further comprising selectively moving, with the controller, each of the at least one finger along the second direction depending on a size of a pickface carried by the autonomous transport vehicle.
20. The method of claim 15 , further comprising:
providing the autonomous transport vehicle with an inertial sensor coupled to the controller; and
detecting, with the inertial sensor, a tilt of the autonomous transport vehicle relative to a horizontal plane.
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US15/359,204 US9908698B2 (en) | 2010-12-15 | 2016-11-22 | Automated bot transfer arm drive system |
US15/913,719 US10227177B2 (en) | 2010-12-15 | 2018-03-06 | Automated bot transfer arm drive system |
US16/351,374 US10683169B2 (en) | 2010-12-15 | 2019-03-12 | Automated bot transfer arm drive system |
US16/903,165 US11273981B2 (en) | 2010-12-15 | 2020-06-16 | Automated bot transfer arm drive system |
US17/654,752 US11952214B2 (en) | 2010-12-15 | 2022-03-14 | Automated bot transfer arm drive system |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US42338810P | 2010-12-15 | 2010-12-15 | |
US13/326,993 US9499338B2 (en) | 2010-12-15 | 2011-12-15 | Automated bot transfer arm drive system |
US15/359,204 US9908698B2 (en) | 2010-12-15 | 2016-11-22 | Automated bot transfer arm drive system |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/326,993 Continuation US9499338B2 (en) | 2010-12-15 | 2011-12-15 | Automated bot transfer arm drive system |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/913,719 Continuation US10227177B2 (en) | 2010-12-15 | 2018-03-06 | Automated bot transfer arm drive system |
Publications (2)
Publication Number | Publication Date |
---|---|
US20170113874A1 US20170113874A1 (en) | 2017-04-27 |
US9908698B2 true US9908698B2 (en) | 2018-03-06 |
Family
ID=46491376
Family Applications (6)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/326,993 Active 2034-11-20 US9499338B2 (en) | 2010-12-15 | 2011-12-15 | Automated bot transfer arm drive system |
US15/359,204 Active US9908698B2 (en) | 2010-12-15 | 2016-11-22 | Automated bot transfer arm drive system |
US15/913,719 Active US10227177B2 (en) | 2010-12-15 | 2018-03-06 | Automated bot transfer arm drive system |
US16/351,374 Active US10683169B2 (en) | 2010-12-15 | 2019-03-12 | Automated bot transfer arm drive system |
US16/903,165 Active 2032-01-31 US11273981B2 (en) | 2010-12-15 | 2020-06-16 | Automated bot transfer arm drive system |
US17/654,752 Active US11952214B2 (en) | 2010-12-15 | 2022-03-14 | Automated bot transfer arm drive system |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/326,993 Active 2034-11-20 US9499338B2 (en) | 2010-12-15 | 2011-12-15 | Automated bot transfer arm drive system |
Family Applications After (4)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/913,719 Active US10227177B2 (en) | 2010-12-15 | 2018-03-06 | Automated bot transfer arm drive system |
US16/351,374 Active US10683169B2 (en) | 2010-12-15 | 2019-03-12 | Automated bot transfer arm drive system |
US16/903,165 Active 2032-01-31 US11273981B2 (en) | 2010-12-15 | 2020-06-16 | Automated bot transfer arm drive system |
US17/654,752 Active US11952214B2 (en) | 2010-12-15 | 2022-03-14 | Automated bot transfer arm drive system |
Country Status (1)
Country | Link |
---|---|
US (6) | US9499338B2 (en) |
Families Citing this family (38)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9096375B2 (en) | 2009-04-10 | 2015-08-04 | Symbotic, LLC | Storage and retrieval system |
US10822168B2 (en) | 2010-12-15 | 2020-11-03 | Symbotic Llc | Warehousing scalable storage structure |
US9475649B2 (en) | 2010-12-15 | 2016-10-25 | Symbolic, LLC | Pickface builder for storage and retrieval systems |
JP5610230B2 (en) * | 2011-07-21 | 2014-10-22 | 株式会社ダイフク | Goods transport equipment |
US9274825B2 (en) | 2011-08-16 | 2016-03-01 | Microsoft Technology Licensing, Llc | Virtualization gateway between virtualized and non-virtualized networks |
US9792577B2 (en) * | 2012-10-04 | 2017-10-17 | Amazon Technologies, Inc. | Filling an order at an inventory pier |
TWI627112B (en) * | 2013-03-13 | 2018-06-21 | 辛波提克有限責任公司 | Storage and retrieval system rover interface |
TWI594933B (en) | 2013-03-15 | 2017-08-11 | 辛波提克有限責任公司 | Automated storage and retrieval system |
US9481517B2 (en) * | 2013-03-15 | 2016-11-01 | Symbotic, LLC | Multiposition lift |
KR20230048568A (en) * | 2014-11-10 | 2023-04-11 | 브룩스 오토메이션 인코퍼레이티드 | Tool auto-teach method and apparatus |
US9884719B2 (en) * | 2014-12-12 | 2018-02-06 | Symbotic, LLC | Storage and retrieval system |
US10521767B2 (en) | 2015-01-16 | 2019-12-31 | Symbotic, LLC | Storage and retrieval system |
US9856083B2 (en) | 2015-01-16 | 2018-01-02 | Symbotic, LLC | Storage and retrieval system |
US11254502B2 (en) | 2015-01-16 | 2022-02-22 | Symbotic Llc | Storage and retrieval system |
US10102496B2 (en) | 2015-01-16 | 2018-10-16 | Symbotic, LLC | Storage and retrieval system |
US11893533B2 (en) | 2015-01-16 | 2024-02-06 | Symbotic Llc | Storage and retrieval system |
US10214355B2 (en) | 2015-01-16 | 2019-02-26 | Symbotic, LLC | Storage and retrieval system |
US9850079B2 (en) | 2015-01-23 | 2017-12-26 | Symbotic, LLC | Storage and retrieval system transport vehicle |
FR3042182B1 (en) | 2015-10-13 | 2020-09-18 | Exotec Solutions | ORDER PICKING SYSTEM |
EP3182348A1 (en) * | 2015-12-17 | 2017-06-21 | Dematic Systems GmbH | Method of order fulfilling by making storage units available from a storage facility in a desired sequence at a picking station |
EP3192616A1 (en) | 2016-01-14 | 2017-07-19 | Magazino GmbH | Robot to pick up and transport objects and method using such a robot |
USD857072S1 (en) * | 2016-01-22 | 2019-08-20 | Symbotic, LLC | Automated guided vehicle |
CN106274540B (en) * | 2016-09-05 | 2019-01-25 | 北京极智嘉科技有限公司 | Carrier charging assembly |
EP3510358B1 (en) | 2016-09-09 | 2021-11-10 | Dematic Corp. | Automated guided vehicle |
US10625956B2 (en) | 2017-02-10 | 2020-04-21 | Symbotic, LLC | Palletizer-depalletizer system for distribution facilities |
USD879173S1 (en) * | 2017-02-14 | 2020-03-24 | Beijing Jingdong Shangke Information Technology Co, Ltd | Shuttle vehicle |
USD871476S1 (en) * | 2017-02-17 | 2019-12-31 | Safelog Gmbh | Automated guided vehicle |
CN114873119B (en) * | 2017-03-20 | 2023-10-31 | 伯克希尔格雷营业股份有限公司 | System and method for handling objects comprising a mobile matrix carrier system |
CN110662707B (en) | 2017-03-23 | 2021-12-14 | 伯克希尔格雷股份有限公司 | System and method for processing objects including automatically moving matrix boxes |
US11117743B2 (en) | 2017-09-28 | 2021-09-14 | Symbotic Llc | Storage and retrieval system |
CN114620398B (en) | 2017-10-27 | 2024-01-02 | 伯克希尔格雷营业股份有限公司 | Object processing system |
CN107745908A (en) * | 2017-11-30 | 2018-03-02 | 无锡凯乐士科技有限公司 | A kind of new logistics shuttle |
USD891493S1 (en) * | 2018-05-15 | 2020-07-28 | Beijing Jingdong Shangke Information Technology Co., Ltd. | Shuttle car for automatic storage system |
US10947060B2 (en) | 2018-06-26 | 2021-03-16 | Symbolic Llc | Vertical sequencer for product order fulfillment |
JP7052611B2 (en) | 2018-07-13 | 2022-04-12 | 株式会社ダイフク | Goods sorting equipment |
US10921819B2 (en) | 2018-08-28 | 2021-02-16 | Asi Technologies, Inc. | Automated guided vehicle system and automated guided vehicle for use therein |
USD995590S1 (en) * | 2021-05-11 | 2023-08-15 | Beijing Jingdong Qianshi Technology Co., Ltd. | Shuttle vehicle |
WO2024015347A1 (en) * | 2022-07-11 | 2024-01-18 | Berkshire Grey Operating Company, Inc. | Systems and methods for providing mobile shuttle load handling systems with mobile carriers |
Citations (361)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US1845962A (en) | 1930-10-18 | 1932-02-16 | George W Dorr | Toy railway |
US1887667A (en) | 1929-04-02 | 1932-11-15 | Mechanical Transfer Car Corp | Means of parking cars in garages |
US2606508A (en) | 1950-02-24 | 1952-08-12 | Nicolas John Van Nes | Means for handling freight |
US2656995A (en) | 1951-05-09 | 1953-10-27 | Goodyear Aircraft Corp | Multiposition caster lock for airplane cross-wind main landing wheels |
US2673689A (en) | 1954-03-30 | Toy railroad track | ||
US2792234A (en) | 1955-08-23 | 1957-05-14 | Truckstell Mfg Company | Swivel connection for vehicle frames |
US2877575A (en) | 1956-01-25 | 1959-03-17 | Harry C Stedt | Boom-suspension buckets and the like |
US2923421A (en) | 1955-04-13 | 1960-02-02 | Roumefort Francois De Senig De | Improvements in mechanized garages |
US2996621A (en) | 1958-04-01 | 1961-08-15 | Jr Arthur M Barrett | Electronic steering for industrial trucks |
US3162459A (en) | 1962-11-15 | 1964-12-22 | Green Giant Company | Folding frame for farm implements |
US3269744A (en) | 1962-03-15 | 1966-08-30 | Peter V Dobson | Trucks |
US3370492A (en) | 1965-04-02 | 1968-02-27 | Smithe Machine Co Inc F L | Die cutting presses |
US3636586A (en) | 1969-12-11 | 1972-01-25 | American Hospital Supply Corp | Caster and swivel lock assembly |
JPS4735387B1 (en) | 1966-09-09 | 1972-09-06 | ||
US3732828A (en) | 1970-03-17 | 1973-05-15 | M Wanner | Variable gage railway truck |
US3738506A (en) | 1970-11-06 | 1973-06-12 | A Cornford | Automatic storage system |
US3744945A (en) | 1971-11-30 | 1973-07-10 | C Metrailer | Apparatus for modular concrete constructions |
US3751758A (en) | 1972-07-05 | 1973-08-14 | American Hospital Supply Corp | Caster and swivel lock assembly |
US3774543A (en) | 1971-12-08 | 1973-11-27 | Pullman Inc | Passenger vehicle static switching apparatus |
US3782565A (en) | 1971-12-23 | 1974-01-01 | J Doran | Automated handling system for container held material |
US3789765A (en) | 1972-10-26 | 1974-02-05 | A Schultz | Switching system |
US3811383A (en) | 1972-11-14 | 1974-05-21 | Rexnord Inc | Car switching system |
US3822647A (en) | 1973-07-09 | 1974-07-09 | Rohr Industries Inc | Passive switching system |
JPS49131671U (en) | 1973-03-10 | 1974-11-12 | ||
US3850111A (en) | 1973-10-23 | 1974-11-26 | Clark Equipment Co | Vehicle mounted plate having guide rollers |
US3876087A (en) | 1973-05-22 | 1975-04-08 | Francesco Osta | Removable cylinder carrying carriage, for rotary machines for the treatment of band material |
US3876095A (en) | 1973-03-05 | 1975-04-08 | Harry C Stedt | Material handling apparatus |
US3896955A (en) | 1974-10-03 | 1975-07-29 | California Inst Of Techn | Automated multi-level vehicle parking system |
US3904216A (en) | 1971-11-30 | 1975-09-09 | Charles E Metrailer | Variable height transport carriage |
US3940105A (en) | 1973-04-12 | 1976-02-24 | Metrailer Charles E | Form support for use in making arched ceiling |
US3970840A (en) | 1974-07-16 | 1976-07-20 | Lear Siegler, Inc. | Control circuitry for vehicle guidance mechanism |
US3976302A (en) | 1973-12-07 | 1976-08-24 | Sten Ove Hammarstrand | Pivoting axle system for terrain vehicles |
US3984012A (en) | 1975-04-16 | 1976-10-05 | Lyman Ennis F | Automatic storage and retrieval system for motor vehicles and the like |
US4026365A (en) | 1975-11-10 | 1977-05-31 | International Harvester Company | Caster wheel supported agricultural implement with self-locking caster wheel |
US4037291A (en) | 1976-08-19 | 1977-07-26 | American Hospital Supply Corporation | Caster and swivel lock assembly |
US4057019A (en) | 1976-01-19 | 1977-11-08 | Caterpillar Tractor Co. | Self-contained steering guidance means |
US4072203A (en) | 1976-05-14 | 1978-02-07 | Pierson Neil W | Small, personal, all terrain vehicle |
US4079955A (en) | 1976-08-09 | 1978-03-21 | The United States Of America As Represented By The Secretary Of The Army | Locking device |
US4087116A (en) | 1975-08-15 | 1978-05-02 | Toyo Kogyo Co., Ltd. | Drive axle suspension system in motor vehicle |
US4174854A (en) | 1977-03-09 | 1979-11-20 | Zettelmeyer Maschinenfabrick GmbH & Co. KG Konz | Building and constructional machines or vehicles |
US4183304A (en) | 1977-05-11 | 1980-01-15 | Daimler-Benz Aktiengesellschaft | Traffic system for track-guided vehicles with steerable wheels |
US4213396A (en) | 1976-06-18 | 1980-07-22 | Daimler-Benz Aktiengesellschaft | Traffic system with drive channel and road vehicles mechanically cross guided-therein |
US4214535A (en) | 1977-09-27 | 1980-07-29 | Waggonfabrik Uerdingen A.G. | Switch for a suspended railway vehicle |
US4223611A (en) | 1979-04-11 | 1980-09-23 | The Boeing Company | Vehicle steering apparatus |
US4268207A (en) | 1979-07-06 | 1981-05-19 | Eaton Corporation | Load support and shuttle |
US4271764A (en) | 1978-03-29 | 1981-06-09 | Daimler-Benz Aktiengesellschaft | Vehicle adapted to be guided on tracks for the public local passenger traffic with pivotal rear axle and longitudinal guide members for such axle |
US4273234A (en) | 1979-02-02 | 1981-06-16 | Bourgeois Ronald D | Conveyor storage system |
US4346659A (en) | 1978-10-13 | 1982-08-31 | Daimler-Benz Aktiengesellschaft | Bi-modal mechanically trackable road vehicle with automatic axle latching mechanism |
US4349938A (en) | 1980-07-11 | 1982-09-21 | Stewart-Warner Corporation | Caster assembly with swivel lock |
US4349937A (en) | 1980-07-11 | 1982-09-21 | Stewart-Warner Corporation | Caster assembly with swivel lock and brake |
US4353572A (en) | 1980-06-02 | 1982-10-12 | The United States Of America As Represented By The Secretary Of The Army | Articulation joint roll stabilizer |
US4372219A (en) | 1978-09-22 | 1983-02-08 | Gibbs-Ryder Materials Handling Systems, Inc. | Material handling system |
US4394104A (en) | 1979-07-16 | 1983-07-19 | Mario Camerini | Container storage installation |
US4395181A (en) | 1978-07-17 | 1983-07-26 | Litton Systems, Inc. | Robot vehicle |
US4428708A (en) | 1980-12-31 | 1984-01-31 | Midwest Conveyor Co., Inc. | Apparatus and method for fine positioning a vehicle at a storage bin in an automatic storage and retrieval system |
JPS5931297A (en) | 1982-08-13 | 1984-02-20 | 株式会社キト− | Locking device for lifting bed in freight handling truck loading shelf-loading lift |
US4445440A (en) | 1981-01-23 | 1984-05-01 | Daimler-Benz Aktiengesellschaft | Track guided vehicle |
US4470742A (en) | 1979-08-21 | 1984-09-11 | Claude Louis Schindler | Storing plant |
US4492504A (en) | 1981-12-07 | 1985-01-08 | Bell & Howell Company | Materials handling system |
WO1985001493A1 (en) | 1983-10-03 | 1985-04-11 | Hans Sieber | Storage installation |
US4527486A (en) | 1983-06-10 | 1985-07-09 | Saturn Machine & Welding Co., Inc. | Vehicle with selectively useable wheel sets |
JPS60153309A (en) | 1984-01-21 | 1985-08-12 | Ikegami Tsushinki Co Ltd | Device for inserting electronic part into print circuit board |
JPS6241705A (en) | 1985-08-16 | 1987-02-23 | Denki Kagaku Kogyo Kk | Production of carbonaceous material coated with glassy carbon |
US4678390A (en) | 1986-03-26 | 1987-07-07 | Societe Anonyme Redoute Catalogue | Automated self-powered material handling truck |
US4715662A (en) | 1983-12-16 | 1987-12-29 | Robert Bosch Gmbh | Method for determining an optimal slip value |
US4716530A (en) | 1984-05-21 | 1987-12-29 | Kabushiki Kaisha Meidensha | System for automatically controlling movement of unmanned vehicle and method therefor |
JPS6337007A (en) | 1986-07-31 | 1988-02-17 | Daifuku Co Ltd | Article sorting equipment |
US4733740A (en) | 1986-05-06 | 1988-03-29 | Custom Technologies, Inc. | Automated guided vehicle system |
US4750429A (en) | 1984-05-09 | 1988-06-14 | Flyda-Mordaunt Limited | Transportation systems |
US4773807A (en) | 1986-04-30 | 1988-09-27 | Harnischfeger Engineers, Inc. | High-speed automatic storage and retrieval system and apparatus therefor |
US4811229A (en) | 1987-01-05 | 1989-03-07 | Hewlett-Packard Company | Control system for automatic guided vehicles |
US4812985A (en) | 1986-09-15 | 1989-03-14 | Ja-Pac, Inc | Article storage and retrieval system |
US4862807A (en) | 1983-07-12 | 1989-09-05 | Cimarron Technology Ltd. | Passive railway switching system |
US4878876A (en) | 1987-09-12 | 1989-11-07 | Nikko Co., Ltd. | Apparatus for changing the running track of a racing toy |
US4883401A (en) | 1988-10-21 | 1989-11-28 | Jervis B. Webb Company | Article handling apparatus for the storage and delivery of plural types of articles |
US4887016A (en) | 1987-09-21 | 1989-12-12 | Viking Systems International, Inc. | Portable robot with automatic set-up |
US4905783A (en) | 1987-06-26 | 1990-03-06 | Ford Motor Company | Vehicular controller with differential wheel speed input |
US4942826A (en) | 1989-04-12 | 1990-07-24 | Trackmobile, Inc. | Vehicle having variable gauge rail wheels |
US4966242A (en) | 1988-08-22 | 1990-10-30 | Les Entreprises Bernard Baillargeon Inc. | All-terrain vehicle |
US5004399A (en) | 1987-09-04 | 1991-04-02 | Texas Instruments Incorporated | Robot slice aligning end effector |
US5015145A (en) | 1989-10-06 | 1991-05-14 | R. J. Reynolds Tobacco Company | Automated cargo loading system |
US5069592A (en) | 1990-03-13 | 1991-12-03 | Lev Galperin | Automated multistorey parking building |
EP0466004A1 (en) | 1990-07-10 | 1992-01-15 | Daifuku Co., Ltd. | Control system for automatic warehousing facility |
US5096355A (en) | 1989-05-02 | 1992-03-17 | Copla Forder-Und Lagertechnik Gesellschaft Fur Anlagenbau Mbh | High bay racking store for storing and for removing from storage goods in the form of rolls, in a particular paper rolls |
US5134353A (en) | 1990-07-10 | 1992-07-28 | Daifuku Co., Ltd. | Equipment for transporting a load |
US5134940A (en) | 1989-10-13 | 1992-08-04 | Daifuku Co., Ltd. | Self-propelled platform car type conveying system |
US5135344A (en) | 1986-12-25 | 1992-08-04 | Kabushikkaisha Itoki Kosakusho | Automatic storage/retrieval apparatus for articles |
DE4104527A1 (en) | 1991-02-14 | 1992-08-20 | Knapp Logistik Automation | DEVICE AND METHOD FOR PICKING PIECE |
US5156639A (en) | 1991-11-18 | 1992-10-20 | Deere & Company | Railway maintenance vehicle |
US5168815A (en) | 1991-07-31 | 1992-12-08 | Stewart & Stevenson Services, Inc. | Railroad car moving vehicle |
US5179329A (en) | 1989-04-25 | 1993-01-12 | Shinko Electric Co., Ltd. | Travel control method, travel control device, and mobile robot for mobile robot systems |
US5187664A (en) | 1990-11-27 | 1993-02-16 | Eaton-Kenway, Inc. | Proportional position-sensing system for an automatic guided vehicle |
US5219264A (en) | 1986-09-19 | 1993-06-15 | Texas Instruments Incorporated | Mobile robot on-board vision system |
US5218909A (en) | 1992-04-21 | 1993-06-15 | Ng Cody K M | Slot track racing apparatus |
US5226782A (en) | 1990-05-07 | 1993-07-13 | Stanley-Vidmar, Inc. | Automatic storage and retrieval system |
US5238100A (en) | 1991-06-13 | 1993-08-24 | Ford Motor Company | Method and apparatus for handling glass sheets |
US5265944A (en) | 1991-09-23 | 1993-11-30 | Allied-Signal, Inc. | Wheel speed verification system |
US5271703A (en) | 1992-05-08 | 1993-12-21 | Si Handling System, Inc. | Automatic order selection system capable of responding to simultaneous order requests |
JPH061309A (en) | 1992-06-16 | 1994-01-11 | Asahi Kasei Micro Syst Kk | Semiconductor device packing device |
US5281901A (en) | 1990-12-03 | 1994-01-25 | Eaton-Kenway, Inc. | Downward compatible AGV system and methods |
US5307888A (en) | 1991-09-12 | 1994-05-03 | Giat Industries | Method and apparatus for controlling the steering of a vehicle that is tracked or that has non-steerable wheels |
US5333983A (en) | 1991-04-26 | 1994-08-02 | Daifuku Co., Ltd. | Rack arrangement |
US5333982A (en) | 1991-05-22 | 1994-08-02 | Daifuku Co., Ltd. | Load transport system for automated warehousing |
US5370492A (en) | 1991-12-24 | 1994-12-06 | Societe D'etude En Mecanisation Et Automation (Cimat) | Automated stores and novel type of truck making it possible for the products to be positioned in or extracted from the storage zones |
US5377851A (en) | 1991-01-28 | 1995-01-03 | Daifuku Co., Ltd. | Rack assembly |
US5377910A (en) | 1993-02-18 | 1995-01-03 | Newton; Alan R. | Railroad system |
US5380139A (en) | 1986-06-30 | 1995-01-10 | Kone Oy | Load handling method and system |
US5397212A (en) | 1992-02-21 | 1995-03-14 | Ebara Corporation | Robot with dust-free and maintenance-free actuators |
US5405232A (en) | 1992-05-20 | 1995-04-11 | Harnischfeger Engineers, Inc. | Automatic storage and retrieval system |
EP0647575A1 (en) | 1993-10-07 | 1995-04-12 | Daifuku Co., Ltd. | Apparatus for transferring cargoes |
US5410969A (en) | 1992-08-11 | 1995-05-02 | Techlam | Steering device for a vehicle bogey fitted with wheels having pneumatic tires |
US5418732A (en) | 1992-11-25 | 1995-05-23 | Odetics, Inc. | Laser targeting system |
US5421265A (en) | 1992-10-21 | 1995-06-06 | Kawasaki Jukogyo Kabushiki Kaisha | Truck wheel-spacing changing method, and variable wheel-spacing truck, and ground facility therefor |
JPH07157013A (en) | 1993-12-10 | 1995-06-20 | Okamura Corp | Transfer position control device for cargo in automatic warehouse |
US5425612A (en) | 1990-12-10 | 1995-06-20 | Ebstein; Simon | Mechanized and automatically managed installation for storing objects such as cars |
US5434490A (en) | 1992-07-31 | 1995-07-18 | Daifuku Co., Ltd. | Article transport system |
JPH07187330A (en) | 1993-12-27 | 1995-07-25 | Itoki Crebio Corp | Bidirectional transfer equipment in automatic warehouse |
US5450797A (en) | 1992-09-17 | 1995-09-19 | Mannesmann Aktiengesellschaft | Transporting system with a floor conveyor device guided on guide rails |
WO1995034491A1 (en) | 1994-06-16 | 1995-12-21 | Macgregor (Fin) Oy | Four-chain paternoster cargo handling system |
JPH081553A (en) | 1994-06-15 | 1996-01-09 | Murata Mach Ltd | Robot-mounted automated guided vehicle |
US5501295A (en) | 1992-02-17 | 1996-03-26 | Inventio Ag | Cableless elevator system |
JPH08113321A (en) | 1994-10-14 | 1996-05-07 | Itoki Crebio Corp | Article carry in and out device of moving truck in automatic warehouse |
JPH08133426A (en) | 1994-11-04 | 1996-05-28 | Itoki Crebio Corp | Pick-up control method for automatic warehouse |
US5525884A (en) | 1995-02-10 | 1996-06-11 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
US5548516A (en) | 1989-12-11 | 1996-08-20 | Caterpillar Inc. | Multi-tasked navigation system and method for an autonomous land based vehicle |
FR2730715A1 (en) | 1995-02-22 | 1996-08-23 | Gec Alsthom Syst Et Serv | Self powered handling truck for multi level stores, |
JPH08258763A (en) | 1995-03-23 | 1996-10-08 | Daifuku Co Ltd | Article conveying vehicle |
EP0737630A1 (en) | 1995-04-11 | 1996-10-16 | Gec Alsthom Systemes Et Services Sa | Self-propelled vehicle with telescopic forks for handling loaded pallets in warehouses and warehouse |
US5588796A (en) | 1994-04-18 | 1996-12-31 | Atg Cygnet Inc. | Apparatus and method for handling information storage media |
US5615992A (en) | 1993-11-24 | 1997-04-01 | Carl Schenck Ag | Method storing or restacking goods carriers in multi-storied warehouse |
US5626362A (en) | 1994-06-07 | 1997-05-06 | Interactive Driving Systems, Inc. | Simulator for teaching vehicle speed control and skid recovery techniques |
JPH09131671A (en) | 1995-11-10 | 1997-05-20 | Maruzen Kogyo Kk | Hydraulic breaker |
US5632350A (en) | 1995-08-30 | 1997-05-27 | Gauvin; Donald | Articulated vehicle |
US5650703A (en) | 1990-06-28 | 1997-07-22 | Hk Systems, Inc. | Downward compatible AGV system and methods |
US5667230A (en) | 1995-06-02 | 1997-09-16 | Dsc Communications Corporation | Rack lift assembly |
US5668724A (en) | 1990-09-28 | 1997-09-16 | Robert Bosch Gmbh | Method for improving the controllabilty of motor vehicles |
US5718551A (en) | 1993-09-15 | 1998-02-17 | Ebstein; Simon | Automatic mechanized system for the storage of objects |
US5725063A (en) | 1995-08-14 | 1998-03-10 | Case Corporation | Articulated work vehicle |
US5764014A (en) | 1996-02-01 | 1998-06-09 | Mannesmann Dematic Rapistan Corp. | Automated guided vehicle having ground track sensor |
US5801506A (en) | 1993-07-22 | 1998-09-01 | Apogeum Ab | Method and device for control of AGV |
US5802980A (en) | 1997-04-07 | 1998-09-08 | Dfm Enterprises, Inc. | Vehicle drive system for road and railroad track |
US5806870A (en) | 1996-02-05 | 1998-09-15 | Hull; Harold L. | Utility vehicle having two pivotable chassis |
US5829096A (en) | 1996-01-29 | 1998-11-03 | Perry; Eugene D. | Locking caster |
US5833431A (en) | 1997-03-04 | 1998-11-10 | Rosse, Iii; Sammy A. | Warehouse truck attachment and method for the transportation and storage of compressible items |
US5857413A (en) | 1997-01-16 | 1999-01-12 | Ward; Glen N. | Method and apparatus for automated powered pallet |
US5866469A (en) | 1996-06-13 | 1999-02-02 | Boeing North American, Inc. | Method of anodic wafer bonding |
US5899469A (en) | 1997-02-06 | 1999-05-04 | Pinto; David Alexander | Vehicle with lockable casters |
JPH11180697A (en) | 1997-12-24 | 1999-07-06 | Tokai Rubber Ind Ltd | Operation control method for unmanned traveling vehicle and unmanned traveling vehicle |
US5918951A (en) | 1997-05-09 | 1999-07-06 | The B.F. Goodrich Company | Antiskid brake control system using kalman filtering |
US5927926A (en) | 1996-10-21 | 1999-07-27 | Itoki Crebio Corporation | Carriage for storage-retrieval system with locking-engaging members |
US5928058A (en) | 1996-06-07 | 1999-07-27 | Francis; Geoffrey V. | Slot car and mechanism for guiding same |
US5988306A (en) | 1997-08-29 | 1999-11-23 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
US6000502A (en) | 1996-09-09 | 1999-12-14 | Crown Equipment Corporation | Personnel carrying vehicle |
US6021367A (en) | 1994-08-24 | 2000-02-01 | Ford Global Technologies, Inc. | Vehicle steering system and method for controlling vehicle direction through differential braking of left and right road wheels |
US6024381A (en) | 1994-06-07 | 2000-02-15 | Mottola; Frederik R. | Simulator for teaching vehicle speed control and skid recovery techniques |
US6036427A (en) | 1996-05-29 | 2000-03-14 | Daifuku Co., Ltd. | Guided vehicle system for transporting loads |
US6038501A (en) | 1997-02-27 | 2000-03-14 | Minolta Co., Ltd. | Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof |
JP2000118615A (en) | 1998-10-19 | 2000-04-25 | Ishikawajima Harima Heavy Ind Co Ltd | Transferring device and automated storage and retrieval system provided with the same |
JP2000122720A (en) | 1998-10-19 | 2000-04-28 | Ishikawajima Harima Heavy Ind Co Ltd | Method for carrying article to be inspected through unmanned carrier |
US6061607A (en) | 1997-07-18 | 2000-05-09 | St. Onge Company | Order pick system |
US6062942A (en) | 1997-05-26 | 2000-05-16 | Asahi Corporation | Interactive intersection for toy tracks |
US6158566A (en) | 1997-11-12 | 2000-12-12 | Dillin Engineered Systems Corporation | Transfer system for a conveyor |
US6220676B1 (en) | 1997-05-09 | 2001-04-24 | The B. F. Goodrich Company | Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer |
US6272406B2 (en) | 1998-03-09 | 2001-08-07 | Jervis B. Webb Company | Guidance system for an automated guided-vehicle |
EP1122194A1 (en) | 2000-02-01 | 2001-08-08 | Johnson & Johnson Vision Care, Inc. | Apparatus and method for automated warehousing |
WO2001087648A1 (en) | 2000-05-17 | 2001-11-22 | The Boler Company | Truck suspensions incorporating asymmetric leaf springs |
US6325586B1 (en) | 1999-12-08 | 2001-12-04 | Protosight, Inc. | Automated storage and retrieval system |
US6324994B1 (en) | 2000-03-09 | 2001-12-04 | Charles A. Glenn | Hybrid transit system |
JP2001344020A (en) | 2000-05-31 | 2001-12-14 | Nippon Yusoki Co Ltd | Controller and control method for automated guided vehicle |
US6345217B1 (en) | 2000-03-31 | 2002-02-05 | Rapistan Systems Advertising Corp. | Automated guided vehicle (AGV) with bipolar magnet sensing |
US6352035B1 (en) | 2000-03-24 | 2002-03-05 | Nikken Corporation | Driving mechanism of a track traveling vehicle |
US6360673B1 (en) | 1999-09-01 | 2002-03-26 | Siemens Electrocom, L.P. | Trolley chassis |
US20020037208A1 (en) | 2000-09-27 | 2002-03-28 | Donato Patrito | Cellular warehouse with facilitated load unit handling |
US6390756B1 (en) | 1997-10-29 | 2002-05-21 | Siemens Dematic Postal Automation, L.P. | Transfer of cartridges containing flat articles |
US6389981B1 (en) | 2000-05-16 | 2002-05-21 | Wilfred Strothmann Gmbh & Co. Kg, Mashinenbau Und Handhabungstechnik | Trolley for track systems |
US20020076307A1 (en) | 2000-04-13 | 2002-06-20 | Ibp, Inc. | Method of automation for flow through storage |
US6439955B1 (en) | 1999-12-21 | 2002-08-27 | The Marketing Store Worldwide L.P. | Toy vehicle and track system |
US6439131B1 (en) | 2001-04-27 | 2002-08-27 | Joseph M. Higgins | Convertible highway and rail freight vehicle |
DE10142395A1 (en) | 2001-05-03 | 2002-11-14 | Fraunhofer Ges Forschung | Storage and transport system comprises rows of shelves holding stored goods, rails arranged between the rows of shelves, rail vehicles, and devices for moving the vehicles between the shelves |
JP2002356207A (en) | 2001-05-31 | 2002-12-10 | Itoki Crebio Corp | Automated storage and retrieval warehouse |
US6508102B1 (en) | 1999-08-26 | 2003-01-21 | Aisin Seiki Co., Ltd. | Near real-time friction estimation for pre-emptive vehicle control |
CN2535331Y (en) | 2002-03-22 | 2003-02-12 | 湖北省机电研究设计院 | Drugstore manipulator |
US20030051544A1 (en) | 2001-09-11 | 2003-03-20 | Jin-Ho Hong | Method and device for estimating a friction coefficient between a tire and a road surface |
US20030074125A1 (en) | 2001-10-15 | 2003-04-17 | Walenty Allen John | Anti-lock brake yaw control method |
US6563128B2 (en) | 2001-03-09 | 2003-05-13 | Cymer, Inc. | Base stabilization system |
US20030185656A1 (en) | 2002-03-29 | 2003-10-02 | Rudolf Hansl | Support frame for a telescopic arm of a load-handling system and a method of manipulating storage units |
US6631321B1 (en) | 2001-10-29 | 2003-10-07 | Navigation Technologies Corp. | Vehicle heading change determination using compensated differential wheel speed |
US6629502B2 (en) | 2000-09-14 | 2003-10-07 | Daifuku Co., Ltd. | Conveyance system |
US6645355B2 (en) | 1996-07-15 | 2003-11-11 | Semitool, Inc. | Semiconductor processing apparatus having lift and tilt mechanism |
JP2003321102A (en) | 2002-05-02 | 2003-11-11 | Tokyo Electron Ltd | System for automatic guided vehicle |
US6652213B1 (en) | 2000-09-08 | 2003-11-25 | California Natural Products | Automated warehousing system and method |
US6655297B2 (en) | 2002-04-19 | 2003-12-02 | Daifuku Co., Ltd. | Transfer system using movable bodies |
JP2004043109A (en) | 2002-07-11 | 2004-02-12 | Itoki Crebio Corp | Transfer mechanism and automatic warehouse system with the same |
US6692211B2 (en) | 2001-03-30 | 2004-02-17 | Yuyama Mfg. Co., Ltd. | Transfusion bottle feed apparatus |
US6695328B2 (en) | 2001-05-16 | 2004-02-24 | Calvin Keith Cope | Vehicle frame assembly and split-frame vehicle |
US6721638B2 (en) | 2001-05-07 | 2004-04-13 | Rapistan Systems Advertising Corp. | AGV position and heading controller |
US20040136821A1 (en) * | 2003-01-14 | 2004-07-15 | New Holland North America, Inc. | Skid steer loader boom and bucket controls |
US6763767B2 (en) | 2002-11-15 | 2004-07-20 | Central Manufacturing | Railcar mover having negative cambered rail wheels |
US20040167667A1 (en) | 2002-12-17 | 2004-08-26 | Goncalves Luis Filipe Domingues | Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping |
US6808058B2 (en) | 2001-02-02 | 2004-10-26 | Daifuku Co., Ltd. | Article joining control method |
WO2005009324A2 (en) | 2003-07-22 | 2005-02-03 | Scriptpro Llc | Fork based transport storage system |
US6851921B2 (en) | 1999-07-30 | 2005-02-08 | Gerhard Haag | Automated parking garage |
US20050029029A1 (en) | 2002-08-30 | 2005-02-10 | Aethon, Inc. | Robotic cart pulling vehicle |
US20050047895A1 (en) | 2003-08-29 | 2005-03-03 | Lert John G. | Materials-handling system using autonomous transfer and transport vehicles |
US6880202B2 (en) | 2003-04-04 | 2005-04-19 | M.C. Healthcare Products Inc. | Directional lock |
JP2005138956A (en) | 2003-11-06 | 2005-06-02 | Okamura Corp | Goods input method in automatic warehouse |
US20050131645A1 (en) | 2003-06-09 | 2005-06-16 | Panopoulos Peter J. | Machine having automatic transport with scanning and GPS functions |
JP2005206259A (en) | 2004-01-19 | 2005-08-04 | Bridgestone Corp | Pallet less automatic warehouse |
US20050166787A1 (en) | 2002-05-24 | 2005-08-04 | Jan Astrom | Vehicle that can be driven on both roads and railroad tracks |
US6928336B2 (en) | 2001-02-12 | 2005-08-09 | The Stanley Works | System and architecture for providing a modular intelligent assist system |
US6929440B1 (en) | 1998-12-15 | 2005-08-16 | Johann Walter Grond | Method and storage loading system for loading and unloading loads in storage |
US6948899B2 (en) | 2002-09-04 | 2005-09-27 | Wan Young Lee | Palletless loading structure for storage system |
US20050220600A1 (en) | 2002-05-13 | 2005-10-06 | Bakvertisi Limited | Apparatus for transporting containers |
US20050217532A1 (en) | 2004-03-30 | 2005-10-06 | Conneally Martin C | Tight curve high rail vehicle |
US20050238465A1 (en) | 2004-04-27 | 2005-10-27 | Razumov Sergey N | Robotic retail facility |
US20050238455A1 (en) | 2004-04-23 | 2005-10-27 | Toteff Thomas S | Dual purpose track for holding wheel chocks and strap clips to tie down dirt bikes to trailers |
US6988451B2 (en) | 2002-10-28 | 2006-01-24 | Brandt Road Rail Corporation | Rail car mover apparatus for loader vehicle |
EP1619148A1 (en) | 2004-03-17 | 2006-01-25 | KHT Kommissionier- und Handhabungstechnik GmbH | Storage system for automatically storing and delivering of goods, in particular of medicament packings |
US20060018996A1 (en) | 2004-07-09 | 2006-01-26 | Pollock Paul W | Automatic discovery of a storage configuration method and apparatus |
US7003375B2 (en) | 2001-08-31 | 2006-02-21 | Daifuku Co., Ltd. | Load storage apparatus |
US7002698B2 (en) | 1996-07-15 | 2006-02-21 | Semitool, Inc. | Semiconductor processing apparatus having lift and tilt mechanism |
US7002772B2 (en) | 2002-07-03 | 2006-02-21 | International Business Machines Corporation | Gripper mechanism for tape cartridges |
WO2006024035A2 (en) | 2004-08-24 | 2006-03-02 | Brooks Automation, Inc. | Transportation system |
US7008164B2 (en) | 2002-08-28 | 2006-03-07 | Nippon Yusoki Co., Ltd. | Automated guided vehicle |
US7011487B2 (en) | 2000-03-06 | 2006-03-14 | Jervis B. Webb Company | Apparatus for transport and delivery of articles |
US20060058921A1 (en) | 2004-09-13 | 2006-03-16 | Tamao Okamoto | Mobile robot |
US7017228B2 (en) | 2002-10-02 | 2006-03-28 | Harlan Silverstein | Pneumatic locking swivel caster |
US7058866B2 (en) | 2002-04-24 | 2006-06-06 | International Business Machines Corporation | Method and system for an on-chip AC self-test controller |
US7074151B2 (en) | 2001-04-17 | 2006-07-11 | Qinetiq Limited | Drive configuration for a skid steered vehicle |
US7085097B2 (en) | 2004-03-05 | 2006-08-01 | Spectra Logic Corporation | Entry/exit port magazine for a data cartridge library |
US7102848B2 (en) | 2004-03-05 | 2006-09-05 | Spectra Logic Corporation | Modular robotics system for a data cartridge library |
US7101139B1 (en) | 2003-05-06 | 2006-09-05 | Benedict Charles E | Automated material handling system with motorized transfer vehicles |
US7100294B1 (en) | 2005-03-24 | 2006-09-05 | Spectron Glass And Electronics, Inc | Method of sensing tilt, tilt sensor, and method of manufacturing same |
US7110855B2 (en) | 2003-05-30 | 2006-09-19 | Sk Daifuku Corporation | Order processing system using pick and pass process and method of processing orders using the system |
US20060210382A1 (en) | 2004-10-14 | 2006-09-21 | Distrobot Systems, Inc. | Inventory system with mobile drive unit and inventory holder |
US20060216137A1 (en) | 2004-07-02 | 2006-09-28 | Katsunori Sakata | Carrying apparatus and carrying control method for sheet-like substrate |
US7119982B2 (en) | 2004-03-05 | 2006-10-10 | Spectra Logic Corporation | Data cartridge library operable with a multipiece magazine, drive bay, user interface, an entry/exit port, and universal electronics bay |
US7128196B2 (en) | 2000-02-07 | 2006-10-31 | Progressive Tool & Industries Co. | Flexible automotive assembly line method |
US20060245862A1 (en) | 2003-05-20 | 2006-11-02 | Rudolf Hansl | Telescopic push arm, particularly for a load-receiving means |
US20060257236A1 (en) | 2002-03-13 | 2006-11-16 | Stingel Frederick J Iii | Automated container storage and delivery system |
US7145747B2 (en) | 2004-03-05 | 2006-12-05 | Spectra Logic Corporation | Data cartridge library including a magazine, a picker, an elevator, and a grasper |
US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
US7158866B2 (en) | 2000-04-12 | 2007-01-02 | Nira Dynamics Ab | Adaptive filter model for motor vehicle sensor signals |
JP3867866B2 (en) | 1996-05-28 | 2007-01-17 | 株式会社日立プラントテクノロジー | Automated guided vehicle |
WO2007011814A2 (en) | 2005-07-19 | 2007-01-25 | Kiva Systems, Inc. | Method and system for storing inventory holders |
US7184855B2 (en) | 2002-03-13 | 2007-02-27 | Stingel Iii Frederick J | Automated container storage and delivery system |
US20070059132A1 (en) | 2005-09-09 | 2007-03-15 | Daifuku Co., Ltd. | Article transport apparatus for an article storage system, and a method of operating the apparatus |
US7192034B2 (en) | 2004-11-29 | 2007-03-20 | Deere & Company | Load based suspension motion limiting |
EP1775240A2 (en) | 2005-09-29 | 2007-04-18 | Daifuku Co., Ltd. | Article transporting facility and method of controlling the facility |
US7221998B2 (en) | 2002-10-17 | 2007-05-22 | David Brust | Determining pallet case configurations for placement by a robot |
JP2007131383A (en) | 2005-11-09 | 2007-05-31 | Toyota Industries Corp | Automated warehouse |
US20070125727A1 (en) | 2005-12-07 | 2007-06-07 | Walter Winkler | Retail supply system |
US20070177011A1 (en) | 2004-03-05 | 2007-08-02 | Lewin Andrew C | Movement control system |
JP2007230717A (en) | 2006-02-28 | 2007-09-13 | Sumitomo Metal Ind Ltd | Article management method using id tag |
US20070276535A1 (en) | 1999-07-30 | 2007-11-29 | Gerhard Haag | Automated warehouse facility |
US20070297879A1 (en) * | 2004-04-30 | 2007-12-27 | Yuyama Mfg. Co., Ltd. | Cart Carrying Apparatus |
US7319320B2 (en) | 2004-08-06 | 2008-01-15 | Denso Corporation | Rotation angle detecting device |
US20080065265A1 (en) | 2006-05-31 | 2008-03-13 | Irobot Corporation | Detecting robot stasis |
JP2008100825A (en) | 2006-10-20 | 2008-05-01 | Nippon Yusoki Co Ltd | Cargo receiving structure |
US7381022B1 (en) | 2004-12-18 | 2008-06-03 | Rodney Joe King | Automated 3-dimensional multitasking, stocking, storage, and distribution system |
US7386379B2 (en) | 2005-07-22 | 2008-06-10 | Gm Global Technology Operations, Inc. | Method and apparatus to control coordinated wheel motors |
US20080154429A1 (en) | 2006-12-21 | 2008-06-26 | Samsung Electronics Co., Ltd. | Apparatus, method, and medium for distinguishing the movement state of mobile robot |
US20080161987A1 (en) | 1997-10-22 | 2008-07-03 | Intelligent Technologies International, Inc. | Autonomous Vehicle Travel Control Systems and Methods |
US7426970B2 (en) | 2005-12-30 | 2008-09-23 | Olsen Christopher J | Articulated wheel assemblies and vehicles therewith |
US7433759B2 (en) | 2004-07-22 | 2008-10-07 | Applied Materials, Inc. | Apparatus and methods for positioning wafers |
US20080269960A1 (en) | 2004-06-04 | 2008-10-30 | Helmut Kostmann | Method for Transporting Goods and Installation for Carrying Out Said Method |
WO2008152245A2 (en) | 2007-05-11 | 2008-12-18 | Savoye | Shuttle conveyor with tray for a storage and/or logistics preparation warehouse |
US20090074545A1 (en) * | 2003-08-29 | 2009-03-19 | Casepick Systems | Materials-handling system using autonomous transfer and transport vehicles |
US7506404B2 (en) | 2004-07-21 | 2009-03-24 | Tente Gmbh & Co. Kg | Caster having a running wheel |
EP2039580A1 (en) | 2007-01-30 | 2009-03-25 | Daifuku Co., Ltd. | Carriage type conveyance device |
US20090114115A1 (en) | 2004-04-02 | 2009-05-07 | Minges Marcus C | System for storage and retrieval of warehousable objects |
US7539557B2 (en) | 2005-12-30 | 2009-05-26 | Irobot Corporation | Autonomous mobile robot |
US20090188774A1 (en) | 2005-06-15 | 2009-07-30 | Daifuku Co., Ltd. | Article Transporting Apparatus and Method of Operating the Apparatus |
WO2009098573A1 (en) | 2008-02-04 | 2009-08-13 | S.I.T.I. Di Basso S.R.L. | Loading and unloading device for a translator-elevator apparatus |
US20090216366A1 (en) | 2004-12-29 | 2009-08-27 | Jacek Zuber | Optimizing vehicle loading operations |
WO2009106988A2 (en) | 2008-02-26 | 2009-09-03 | Administrador De Infraestructuras Ferroviarias (Adif) | Dual gauge-changing device on single platform |
US7584812B2 (en) | 2004-11-29 | 2009-09-08 | Deere & Company | Articulated dozer with suspension and suspension lockout |
US7587260B2 (en) | 2006-07-05 | 2009-09-08 | Battelle Energy Alliance, Llc | Autonomous navigation system and method |
US20090281656A1 (en) | 2005-08-19 | 2009-11-12 | Lonnie Draper | Inventory control and prescription dispensing system |
US7620477B2 (en) | 2006-07-05 | 2009-11-17 | Battelle Energy Alliance, Llc | Robotic intelligence kernel |
US7636982B2 (en) | 2002-01-03 | 2009-12-29 | Irobot Corporation | Autonomous floor cleaning robot |
US7641014B2 (en) | 2006-01-31 | 2010-01-05 | Robert Bosch Gmbh | Traction control system and method |
US7648002B2 (en) | 2007-06-08 | 2010-01-19 | Deere & Company | Vehicle with coordinated Ackerman and differential steering |
US7668621B2 (en) | 2006-07-05 | 2010-02-23 | The United States Of America As Represented By The United States Department Of Energy | Robotic guarded motion system and method |
US20100043665A1 (en) | 2005-03-04 | 2010-02-25 | Georges Brigham | Mass transit vehicle system |
US20100044977A1 (en) | 2006-04-26 | 2010-02-25 | Hughes Peter S | Vehicle with lockable tilt system |
US20100044124A1 (en) | 2005-11-23 | 2010-02-25 | Radke Daniel D | Articulated Dozer With Suspension And Suspension Lockout |
US7671293B2 (en) | 2004-09-08 | 2010-03-02 | Lockheed Martin Corporation | System and method for dynamic allocation for bin assignment |
US7686560B2 (en) | 2005-12-08 | 2010-03-30 | Conestoga Cold Storage | Rack, conveyor and shuttle automated pick system |
US20100086385A1 (en) | 2008-10-06 | 2010-04-08 | Haim Shani | Shuttle Cars for Use in Automated Parking |
US7695235B1 (en) | 2002-07-19 | 2010-04-13 | Rallis John H | Automated warehousing and cargo loading system |
US20100102532A1 (en) | 2003-10-01 | 2010-04-29 | Eanna Pronsias Timoney | Articulated dump truck |
US20100131182A1 (en) | 2008-11-21 | 2010-05-27 | Michael Deegan | Systems and methods for measuring weight and weight distribution of a payload |
US20100135759A1 (en) | 2007-12-18 | 2010-06-03 | Dillon Ben N | Articulated Combine With Unloading and Rear Bogey Steering Architecture |
US7730781B2 (en) | 2007-06-01 | 2010-06-08 | Beijing Walkang Science & Technology Limited Company | Gas pendulum inertial sensor |
US20100141483A1 (en) | 2008-12-10 | 2010-06-10 | Russell James Thacher | Method and system for determining a position of a vehicle |
US20100145507A1 (en) * | 2008-12-04 | 2010-06-10 | Donald Blust | Automated business system and method of vending and returning a consumer product |
WO2010080539A1 (en) | 2008-12-18 | 2010-07-15 | Payge Marie Hamby | Shelving deck |
JP2010158942A (en) | 2009-01-07 | 2010-07-22 | Mitsubishi Heavy Ind Ltd | Guide device of traffic vehicle |
US7769513B2 (en) | 2002-09-03 | 2010-08-03 | Automotive Technologies International, Inc. | Image processing for vehicular applications applying edge detection technique |
US7771152B2 (en) | 2005-02-28 | 2010-08-10 | Keuro Besitz Gmbh & Co. | Rack module and method for rearranging stored goods in a rack module |
US7792350B2 (en) | 2003-11-10 | 2010-09-07 | Brooks Automation, Inc. | Wafer center finding |
US7793742B2 (en) | 2004-11-30 | 2010-09-14 | Cool2, Inc. | Off road vehicle apparatus and method |
US20100234995A1 (en) | 2008-12-05 | 2010-09-16 | Aldo Zini | System and method for securely transporting an item |
US7801644B2 (en) | 2006-07-05 | 2010-09-21 | Battelle Energy Alliance, Llc | Generic robot architecture |
WO2010118412A1 (en) | 2009-04-10 | 2010-10-14 | Casepick Systems, Llc | Storage and retrieval system |
US20100272546A1 (en) | 2008-01-11 | 2010-10-28 | Christoph Wolkerstorfer | Method and transport device for positioning loading aids prior to the transfer thereof into a shelf |
US7826926B2 (en) | 2005-11-07 | 2010-11-02 | Samsung Electronics Co., Ltd. | Robot and method of localizing the same |
US20100290874A1 (en) | 2007-12-21 | 2010-11-18 | Tgw Mechanics Gmbh | Method for introducing loading auxiliary means of transport device |
US20100324815A1 (en) | 2009-06-18 | 2010-12-23 | Tomoaki Hiruta | Position detection apparatus and position detection program |
US7866671B2 (en) | 2009-01-12 | 2011-01-11 | Herman Madler | Automatic leveling vehicle |
US20110008138A1 (en) | 2008-10-27 | 2011-01-13 | Dematic Gmbh | Transferring shuttle for three dimensional automated warehouse |
US7885750B2 (en) | 2006-08-30 | 2011-02-08 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a sideslip angle |
WO2011028926A2 (en) | 2009-09-02 | 2011-03-10 | Somark Innovations, Inc. | Animal marking devices, transfer assemblies, and useful restraints |
US7909562B2 (en) | 2006-08-08 | 2011-03-22 | C&S Wholesale Grocers, Inc. | Material handling apparatus |
US7926145B2 (en) | 2008-05-07 | 2011-04-19 | Chaokuo Liao | Selectively lockable caster |
US20110090064A1 (en) | 2009-10-21 | 2011-04-21 | Airbus Operations Gmbh | System and method for stockkeeping in an aircraft galley |
US7931431B2 (en) | 2003-05-06 | 2011-04-26 | Bec Companies, Inc. | Automated material handling system with load transfer vehicles |
US20110106339A1 (en) | 2006-07-14 | 2011-05-05 | Emilie Phillips | Autonomous Behaviors for a Remote Vehicle |
US20110130974A1 (en) | 2009-09-09 | 2011-06-02 | Gm Global Technology Operations, Inc. | Method and apparatus for road surface friction estimation based on the self aligning torque |
US7960973B2 (en) | 2003-10-14 | 2011-06-14 | Merlin Technology, Inc. | Tracking positions of personnel, vehicles, and inanimate objects |
US7965871B2 (en) | 2006-07-13 | 2011-06-21 | Mitsubishi Fuso Truck And Bus Corporation | Moving-state determining device |
US7967354B2 (en) | 2008-05-06 | 2011-06-28 | Fanuc Robotics America, Inc. | Mixed size product handling end of arm tool |
US7974738B2 (en) | 2006-07-05 | 2011-07-05 | Battelle Energy Alliance, Llc | Robotics virtual rail system and method |
US20110185975A1 (en) | 2008-10-16 | 2011-08-04 | Lely Patent N.V. | Unmanned vehicle comprising a protection device |
US8000835B2 (en) | 2006-12-01 | 2011-08-16 | Lockheed Martin Corporation | Center of gravity sensing and adjusting load bar, program product, and related methods |
US20110202175A1 (en) | 2008-04-24 | 2011-08-18 | Nikolai Romanov | Mobile robot for cleaning |
US8001837B2 (en) | 2005-05-05 | 2011-08-23 | Ologic, Inc. | Balancing device |
US8007221B1 (en) | 2004-10-22 | 2011-08-30 | Irobot Corporation | Lifting apparatus for remote controlled robotic device |
US8006824B2 (en) | 2006-11-16 | 2011-08-30 | Hirata Corporation | Storage system and storage method |
US8024066B2 (en) | 2005-01-18 | 2011-09-20 | Redzone Robotics, Inc. | Autonomous inspector mobile platform |
US20110231016A1 (en) | 2010-03-17 | 2011-09-22 | Raytheon Company | Temporal tracking robot control system |
US20110240383A1 (en) | 2010-04-06 | 2011-10-06 | Robotex Inc. | Robotic system and method of use |
US8041456B1 (en) | 2008-10-22 | 2011-10-18 | Anybots, Inc. | Self-balancing robot including an ultracapacitor power source |
US8042627B2 (en) | 2008-06-05 | 2011-10-25 | Samsung Electronics Co., Ltd. | Walking robot |
US20110271469A1 (en) | 2005-02-18 | 2011-11-10 | Andrew Ziegler | Autonomous surface cleaning robot for wet and dry cleaning |
US8060257B2 (en) | 2004-10-01 | 2011-11-15 | Redzone Robotics, Inc. | Network architecture for remote robot with interchangeable tools |
US8136650B2 (en) | 2007-05-03 | 2012-03-20 | Bibliotheca ITG LLC | Apparatus and methods for book handling |
US20120185122A1 (en) | 2010-12-15 | 2012-07-19 | Casepick Systems, Llc | Bot having high speed stability |
US20120189409A1 (en) | 2010-12-15 | 2012-07-26 | CasePick Systems, LLC. | Autonomous transport vehicle |
DE102011012950A1 (en) | 2011-03-03 | 2012-09-06 | Grenzebach Maschinenbau Gmbh | Device and method for the defined interim storage and commissioning of produced goods of the same kind, but of different sizes |
US20120247239A1 (en) | 2011-04-04 | 2012-10-04 | Dematic Accounting Services Gmbh | Telescoping mechanism and method of extending and retracting a telescoping mechanism |
US20120277940A1 (en) | 2003-01-06 | 2012-11-01 | Ajith Kuttannair Kumar | System and method for controlling movement of vehicles |
US20120299260A1 (en) | 2002-10-25 | 2012-11-29 | Invacare Corporation | Suspension for wheeled vehicles |
US8364309B1 (en) | 2009-07-14 | 2013-01-29 | Bailey Bendrix L | User-assisted robot navigation system |
US20130061420A1 (en) | 2011-09-09 | 2013-03-14 | Dyson Technology Limited | Autonomous surface treating appliance |
US20130094926A1 (en) | 2011-10-14 | 2013-04-18 | Krones Ag | Rack-serving unit and order-picking warehouse |
US20130142599A1 (en) | 2008-11-07 | 2013-06-06 | Joseph Coleman McDowell, JR. | Automatic parking structure |
US8515575B2 (en) | 2010-07-19 | 2013-08-20 | Paragon Technologies, Inc. | Mobile automatic order selection system capable of responding to simultaneous order requests |
JP5310055B2 (en) | 2009-02-12 | 2013-10-09 | トヨタ自動車株式会社 | Hybrid vehicle |
US20140350725A1 (en) | 2012-01-25 | 2014-11-27 | Adept Technology, Inc. | Autonomous mobile robot for handling job assignments in a physical environment inhabited by stationary and non-stationary obstacles |
US20150081089A1 (en) | 2013-09-13 | 2015-03-19 | Symbotic, LLC | Automated storage and retrieval system |
US9020639B2 (en) | 2009-08-06 | 2015-04-28 | The Regents Of The University Of California | Multimodal dynamic robotic systems |
US9037286B2 (en) | 2010-03-12 | 2015-05-19 | Symbotic Llc | Each pick |
US20150150429A1 (en) | 2013-12-04 | 2015-06-04 | Samsung Electronics Co., Ltd. | Cleaning robot and control method thereof |
US20150314446A1 (en) | 2014-04-30 | 2015-11-05 | The Boeing Company | Crawler Robot and Supporting Platform |
US20150336741A1 (en) | 2011-12-21 | 2015-11-26 | Tgw Logistics Group Gmbh | Rack storage system and method for operating it |
US20160000282A1 (en) | 2013-01-29 | 2016-01-07 | Dyson Technology Limited | Mobile robot |
US20160121486A1 (en) | 2013-05-23 | 2016-05-05 | Q-Bot Limited | Method of Covering a Surface of a Building and Robot Therefor |
JP5931297B2 (en) | 2013-09-24 | 2016-06-08 | 小米科技有限責任公司Xiaomi Inc. | Connecting parts for earphone plug, earphone socket and terminal |
US20170083020A1 (en) | 2015-09-23 | 2017-03-23 | Amazon Technologies, Inc. | Actively balanced mobile drive unit |
Family Cites Families (174)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2840248A (en) | 1955-05-27 | 1958-06-24 | Donald E Grove | Self-propelled traverse for mechanical car parking systems |
US2945604A (en) | 1958-02-10 | 1960-07-19 | Speed Park Inc | Transferring apparatus |
GB1023991A (en) | 1961-08-01 | 1966-03-30 | King Ltd Geo W | Improvements in or relating to the parking or storage of vehicles |
US3512625A (en) | 1964-12-11 | 1970-05-19 | Rex Chainbelt Inc | Material handling system |
US3746189A (en) | 1966-04-18 | 1973-07-17 | Clark Equipment Co | Automatic control system for storage systems transfer cart |
US3519149A (en) | 1968-03-07 | 1970-07-07 | Triax Co | Over height load protection for automatic storage system |
US3554390A (en) | 1968-12-16 | 1971-01-12 | Triax Co | Warehouse system with automatic means to selectively transfer a single or plurality of articles |
NL6915003A (en) | 1969-07-05 | 1971-01-07 | ||
US3677421A (en) | 1969-08-20 | 1972-07-18 | Cutler Hammer Inc | Storage courier boundary control system |
US3737056A (en) | 1971-04-19 | 1973-06-05 | Conco Inc | Plural number control system for an automatic warehouse |
US4307988A (en) | 1971-12-28 | 1981-12-29 | Page Peter H | Storage system |
US4007843A (en) | 1972-07-17 | 1977-02-15 | Rapistan, Incorporated | Multi-aisle warehouse system with mobile lift having control means for an article transfer vehicle |
US3802580A (en) | 1973-02-22 | 1974-04-09 | Supreme Equip & Syst | Means for selectively removing a preselected number of articles from an inventory storage means |
JPS539368B2 (en) | 1973-04-23 | 1978-04-05 | ||
US4064986A (en) | 1976-04-30 | 1977-12-27 | Westinghouse Electric Corporation | Escalator having guide wheels and guide track with cooperative non-flat surfaces |
JPS6010967B2 (en) | 1977-03-15 | 1985-03-22 | 株式会社伊藤喜工作所 | Automatic individual removal and storage device for file folders |
DE7718050U1 (en) | 1977-06-08 | 1979-01-04 | Theobald, Adolf, 5758 Froendenberg | DEVICE FOR STORAGE OF PALLETS FOR STORAGE |
US4307938A (en) | 1979-06-19 | 1981-12-29 | Andrew Corporation | Dielectric waveguide with elongate cross-section |
DE2925469C2 (en) | 1979-06-23 | 1982-07-08 | Stolzer-Lagertechnik GmbH, 7590 Achern | Device for the storage of rod-shaped material and for the automatic, program-controlled supply of a cutting machine with this material |
US4505630A (en) | 1979-12-17 | 1985-03-19 | Besser Company | Article transfer apparatus |
JPS5931297B2 (en) | 1980-04-24 | 1984-08-01 | エンタック株式会社 | Manufacturing method and device for wire wheels for electric motors |
US4406570A (en) | 1980-09-30 | 1983-09-27 | Burlington Industries, Inc. | Materials handling system |
IT1136819B (en) | 1981-03-13 | 1986-09-03 | Finsider Costr Metall Cmf | CONVEYOR DEVICE FOR A STORAGE SYSTEM |
JPS57186887A (en) | 1981-05-13 | 1982-11-17 | Hitachi Ltd | Color television set |
JPS57194861A (en) | 1981-05-25 | 1982-11-30 | Murata Mach Ltd | Automatic transfer system of workpiece in machine shop |
US4502586A (en) | 1982-03-31 | 1985-03-05 | Artos Engineering Company | Belt type conveyor for conveying wire segments |
DE3322906A1 (en) | 1983-06-25 | 1985-03-14 | Vdo Adolf Schindling Ag, 6000 Frankfurt | CONTAINER WITH A DEVICE FOR ELECTRICALLY MEASURING THE LEVEL OF A LIQUID CONTAINING IT |
DE3408081A1 (en) | 1984-03-05 | 1985-09-19 | Siemens AG, 1000 Berlin und 8000 München | PICKING DEVICE |
US5282712A (en) | 1985-05-13 | 1994-02-01 | Computer Aided Systems, Inc. | Organizer system and method for a rotatable storage structure |
US5472309A (en) | 1985-05-13 | 1995-12-05 | Computer Aided Systems, Inc. | System for delivery |
US4909697A (en) | 1986-01-02 | 1990-03-20 | Computer Aided Systems, Inc. | Automated work station |
US5273392A (en) | 1986-01-02 | 1993-12-28 | Computer Aided Systems, Inc. | Automated work center and method |
US4786229A (en) | 1986-04-30 | 1988-11-22 | Henderson Thomas R | Document storage and retrieval apparatus and method |
US4726725A (en) | 1986-06-10 | 1988-02-23 | Harnischfeger Corporation | Load grasping apparatus for narrow aisle stacker crane |
JPS63160204A (en) | 1986-12-23 | 1988-07-04 | 田中貴金属工業株式会社 | Slide contactor |
US4809191A (en) * | 1987-04-28 | 1989-02-28 | Barry Wright Corporation | Robotic position sensor |
US4856956A (en) | 1987-06-18 | 1989-08-15 | Supac Systems, Inc. | Container extraction and transfer mechanism for an automated storage and retrieval system |
JPH061309Y2 (en) | 1987-06-29 | 1994-01-12 | 本田技研工業株式会社 | Valve hole processing equipment |
EP0390813B1 (en) | 1987-11-12 | 1993-11-03 | Kone Oy | Method and store for storing paper rolls |
JPH01242302A (en) | 1988-03-23 | 1989-09-27 | Motoda Electron Co Ltd | In-house providing type automatic warehouse |
JPH081553Y2 (en) | 1988-03-29 | 1996-01-17 | 株式会社ノリタケカンパニーリミテド | CRT heating device |
US4936738A (en) | 1988-04-26 | 1990-06-26 | Food Plant Engineering, Inc. | Alternating push back selective rack storage system |
WO1990000507A1 (en) | 1988-07-06 | 1990-01-25 | Michel Rothlisberger | Mechanised storage system |
DE3825570A1 (en) | 1988-07-28 | 1990-02-01 | Tepora Transportsysteme Entwic | DEVICE FOR THE STORAGE OF LONG GOODS |
US5163001A (en) | 1989-02-17 | 1992-11-10 | Luke Jr Walter | Interactive display for use on an automatic guided vehicle |
US5140787A (en) | 1989-07-10 | 1992-08-25 | John Corcoran | High density storage facility |
DE3938565A1 (en) | 1989-11-21 | 1991-05-23 | Behringwerke Ag | INCUBATIONAL DEVICE FOR MICROTITRATION PLATES |
US5199840A (en) | 1990-08-01 | 1993-04-06 | John Castaldi | Automated storage and retrieval system |
US5165838A (en) | 1990-09-06 | 1992-11-24 | Teledyne Industries, Inc. | Vehicle for transporting loads |
JPH089175Y2 (en) | 1991-04-09 | 1996-03-13 | 村田機械株式会社 | Package inspection equipment |
DE9107229U1 (en) | 1991-06-12 | 1991-07-25 | Copla Förder- und Lagertechnik Gesellschaft für Anlagenbau mbH, 1000 Berlin | Rail for warehouses, especially high-bay warehouses, for roll-shaped storage goods, especially paper rolls |
DE69213582T2 (en) | 1991-06-28 | 1997-03-06 | Kao Corp | Process for storing objects |
US5421685A (en) | 1992-01-10 | 1995-06-06 | Stanley-Vidmar, Inc. | Vacuum-type gripping apparatus |
DE9207669U1 (en) | 1992-06-05 | 1993-02-18 | Siemens AG, 8000 München | Storage container with a gripping area for a handling device |
US5379229A (en) | 1992-06-18 | 1995-01-03 | Communications Test Design, Inc. | Automated storage and retrieval system |
DE4224168C2 (en) | 1992-07-22 | 1996-11-07 | Zueblin Systemtechnik | Device for handling roller pallets, especially in rack storage |
US5328316A (en) | 1992-08-04 | 1994-07-12 | Hoffmann Christopher J | Automatic storage and retrieval system having an extendible bin extraction mechanism with pop-up tabs |
WO1994011599A1 (en) | 1992-11-12 | 1994-05-26 | Faller Alexander Jun | Device for storing objects in a storage block |
US5421697A (en) | 1993-03-02 | 1995-06-06 | Storage Technology Corporation | Telescopic pick-and-place robotic mechanism |
JP3386507B2 (en) | 1993-03-30 | 2003-03-17 | 富士通株式会社 | Three-dimensional installation equipment for information processing equipment |
US5337880A (en) | 1993-07-23 | 1994-08-16 | Automated Systems, Inc. | Article storage carousel with automatic conveyor loading and unloading |
JP3102245B2 (en) | 1993-12-27 | 2000-10-23 | 株式会社イトーキクレビオ | Transfer equipment in automatic warehouse |
US5460476A (en) | 1994-06-21 | 1995-10-24 | International Business Machines Corporation | Dual gripper picker assembly for an automated storage system |
JPH0891795A (en) | 1994-09-29 | 1996-04-09 | Aichi Corp | Safety device for boom working vehicle |
US5611422A (en) | 1995-03-01 | 1997-03-18 | Fab-Tech Industries, Inc. | Materials carrying apparatus |
US5529165A (en) | 1995-07-27 | 1996-06-25 | St. Onge Company | Carousel storage conveyor |
JPH0948507A (en) | 1995-08-04 | 1997-02-18 | Itoki Crebio Corp | Carrying-in/out device of moving truck in automated warehouse |
US5798920A (en) * | 1995-11-17 | 1998-08-25 | Hk Systems, Inc. | Storage and retrieval machine control system having an encoder and an optical distance meter |
US5699281A (en) * | 1995-11-17 | 1997-12-16 | Hk Systems, Inc. | Method and apparatus for mapping a warehouse rack structure for a storage and retrieval machine |
JPH09148401A (en) | 1995-11-29 | 1997-06-06 | Toshiba Corp | Wafer transfer apparatus |
US5718322A (en) | 1996-03-21 | 1998-02-17 | The United States Of America As Represented By The Secretary Of The Navy | Conveyor safety tray |
WO1997037864A1 (en) | 1996-04-10 | 1997-10-16 | Neway Anchorlok International, Inc. | Anti-creep device for a trailer with air springs |
US5810540A (en) | 1996-04-30 | 1998-09-22 | Castaldi; John | Automated storage and retrieval system and bin insertion/extraction mechanism therefor |
US5847537A (en) | 1996-10-19 | 1998-12-08 | Parmley, Sr.; Daniel W. | Electric vehicle charging station system |
DE69637356T2 (en) | 1996-11-01 | 2008-10-30 | Laboratoires Choisy Ltee, Louisville | COATING OR SEALING COMPOSITION |
US6135697A (en) | 1997-01-30 | 2000-10-24 | Siemens Electrocom, L.P. | Transfer of cartridges containing flat articles |
US7682122B2 (en) | 1997-07-22 | 2010-03-23 | Maynard Michael D | Article retrieving and positioning system and apparatus for articles, layers, cases, and pallets |
IT1294287B1 (en) | 1997-07-30 | 1999-03-24 | Fata Automation | CELL WAREHOUSE WITH HYDROPNEUMATIC HANDLING TRANSPORT WAGONS |
US6024831A (en) | 1997-08-20 | 2000-02-15 | Vanguard International Semiconductor Corporation | Method and apparatus for monitoring plasma chamber condition by observing plasma stability |
JP3887904B2 (en) | 1997-09-10 | 2007-02-28 | 株式会社豊田自動織機 | Control device for transfer device for stacker crane |
JP3340656B2 (en) | 1997-10-21 | 2002-11-05 | 本田技研工業株式会社 | Transfer equipment |
US6116842A (en) | 1998-10-02 | 2000-09-12 | Harris; Richard D. | Transfer car for a conveyor system |
JP3538554B2 (en) | 1998-10-19 | 2004-06-14 | 株式会社イトーキクレビオ | Automatic warehouse |
US6341269B1 (en) | 1999-01-26 | 2002-01-22 | Mercani Technologies, Inc. | System, method and article of manufacture to optimize inventory and merchandising shelf space utilization |
JP2001044695A (en) | 1999-07-26 | 2001-02-16 | Fuji Mach Mfg Co Ltd | Substrate transporting method and substrate conveyor |
JP2001052398A (en) | 1999-08-04 | 2001-02-23 | Fujitsu Ltd | Loader |
WO2001076985A1 (en) | 2000-04-09 | 2001-10-18 | Lichti Robert D | Moving crank mechanism |
DE20011661U1 (en) | 2000-07-05 | 2000-12-21 | Wagner, Rudolf M., Dipl.-Ing., 53539 Kelberg | Device for unsorted storage of goods or other objects of different dimensions |
US6503043B1 (en) | 2000-10-17 | 2003-01-07 | Lebleu Corporation | Multiple level loading apparatus and method |
US6600418B2 (en) | 2000-12-12 | 2003-07-29 | 3M Innovative Properties Company | Object tracking and management system and method using radio-frequency identification tags |
TW506936B (en) | 2000-12-15 | 2002-10-21 | Yazaki Ind Chem Co Ltd | Under-cart type guided tractor |
DE10115754C2 (en) | 2001-03-23 | 2003-04-24 | Bellheimer Metallwerk Gmbh | storage lift |
US20030033217A1 (en) | 2001-05-18 | 2003-02-13 | International Business Machines Corporation | Method and system for mapping shelf space |
KR100530039B1 (en) * | 2001-06-12 | 2005-11-22 | 미래산업 주식회사 | Revolving Sense System of Chamber Fan Apparatus for Handler |
JP4011307B2 (en) | 2001-06-29 | 2007-11-21 | 株式会社イトーキ | Automatic warehouse entry / exit control device |
JP2003063610A (en) | 2001-08-23 | 2003-03-05 | Sumitomo Metal Mining Co Ltd | Ejecting position deciding method and device for short thin product |
US6864489B2 (en) | 2001-10-30 | 2005-03-08 | 3M Innovative Properties Company | Method of detecting wear on a substrate using a fluorescent indicator |
JP3864803B2 (en) | 2002-02-25 | 2007-01-10 | 株式会社ダイフク | Containment equipment |
US7734495B2 (en) | 2002-04-23 | 2010-06-08 | Kimberly-Clark Worldwide, Inc. | Methods and system for allocating shelf space |
JP3940792B2 (en) | 2002-04-23 | 2007-07-04 | グリーンボーイ株式会社 | Golf cart retreat control device |
US6748292B2 (en) | 2002-07-15 | 2004-06-08 | Distrobot Systems, Inc. | Material handling method using autonomous mobile drive units and movable inventory trays |
US6950722B2 (en) | 2002-07-15 | 2005-09-27 | Distrobot Systems, Inc. | Material handling system and method using mobile autonomous inventory trays and peer-to-peer communications |
US6895301B2 (en) | 2002-07-15 | 2005-05-17 | Distrobot Systems, Inc. | Material handling system using autonomous mobile drive units and movable inventory trays |
US6861154B2 (en) | 2002-09-26 | 2005-03-01 | Ecolab, Inc. | Coating wear indicator |
US20040238326A1 (en) | 2002-10-08 | 2004-12-02 | Wayne Lichti | Method and apparatus for material handling and storage |
TW588712U (en) | 2002-12-23 | 2004-05-21 | Grand Hall Entpr Co Ltd | Improvement of fabricating structure for operation platform frame |
US7536283B2 (en) | 2003-01-03 | 2009-05-19 | L&P Property Management Company | Storage optimization system and method |
DE10305028B4 (en) | 2003-02-07 | 2007-04-05 | Airbus Deutschland Gmbh | Vertical conveyor for the transport of food in an airplane with at least two decks arranged one above the other |
DE10304916A1 (en) | 2003-02-07 | 2004-08-26 | O&K Orenstein & Koppel Ag | Method and device for camber adjustment |
JP4200785B2 (en) | 2003-02-21 | 2008-12-24 | いすゞ自動車株式会社 | Automated guided vehicle |
JP4224784B2 (en) * | 2003-07-18 | 2009-02-18 | 株式会社ダイフク | Gripping part raising and lowering transfer device |
JP4658463B2 (en) | 2003-09-09 | 2011-03-23 | 株式会社アイチコーポレーション | Control equipment for aerial work platforms |
JP3102245U (en) | 2003-12-12 | 2004-07-02 | ジェイ建築システム株式会社 | Construction structure of building members using fiber sheet |
JP2005270430A (en) | 2004-03-25 | 2005-10-06 | Funai Electric Co Ltd | Station for mobile robot |
FI117862B (en) | 2004-04-02 | 2007-03-30 | Fastems Oy Ab | Systems and methods for manipulating cassettes using cassettes by means of a transfer device |
US7266422B1 (en) | 2004-04-09 | 2007-09-04 | Fanuc Robotics America, Inc. | Automated palletizing cases having mixed sizes and shapes |
JP4264824B2 (en) | 2004-04-13 | 2009-05-20 | トヨタ自動車株式会社 | Trolley truck |
DE102004019922A1 (en) | 2004-04-21 | 2004-11-18 | Bär, Ralf, Dipl.-Ing. | Conveyor for palletized workpieces has guide profile with carriages to receive pallets and with form locking couplings to control attachment to drive |
US7930060B2 (en) * | 2004-04-30 | 2011-04-19 | Yuyama Mfg. Co., Ltd. | Medicine supply system |
EP1598291B1 (en) | 2004-05-21 | 2008-02-20 | KHT Kommissionier- und Handhabungstechnik GmbH | Apparatus and method for automatically storing articles |
GB2412012B (en) | 2004-05-28 | 2006-02-01 | High Performance Pc Ltd | Computing device |
JP4279738B2 (en) | 2004-07-22 | 2009-06-17 | リンテック株式会社 | UV irradiation equipment |
SE0402030L (en) | 2004-08-16 | 2006-02-17 | Moving Ab | Stock management system and procedure |
JP2006137577A (en) | 2004-11-12 | 2006-06-01 | Ishikawajima Harima Heavy Ind Co Ltd | Automatic warehouse and transfer device |
KR100615281B1 (en) | 2004-12-04 | 2006-08-25 | 주식회사 파이컴 | Cantilever panel carrier |
CN2752234Y (en) | 2004-12-10 | 2006-01-18 | 中国兵器工业第五五研究所 | Semi-automatic trackless transportion vehicle |
FR2882694B1 (en) | 2005-03-02 | 2007-05-11 | Manitou Bf Sa | LATERAL STABILIZATION DEVICE FOR TROLLEY HAVING AN OSCILLATING BRIDGE |
FI126245B (en) | 2005-03-09 | 2016-08-31 | Konecranes Finland Oy | Procedure for placing a palletless goods package on a warehouse shelf and handing it over therefrom and administering the package logistics and equipment for carrying out the procedure |
US7751928B1 (en) | 2005-03-11 | 2010-07-06 | Amazon Technologies, Inc. | Method and system for agent exchange-based materials handling |
EP1865699A4 (en) | 2005-03-30 | 2012-02-01 | Fujitsu Ltd | Portable telephone and forwarding program |
JP2009501685A (en) | 2005-07-15 | 2009-01-22 | クナップ ロジスティックス アンド オートメーション インコーポレイテッド | Shuttle for transporting goods |
US7894933B2 (en) | 2005-07-19 | 2011-02-22 | Kiva Systems, Inc. | Method and system for retrieving inventory items |
US8483869B2 (en) | 2005-07-19 | 2013-07-09 | Amazon Technologies, Inc. | Method and system for fulfilling requests in an inventory system |
JP4618505B2 (en) | 2005-10-03 | 2011-01-26 | 株式会社ダイフク | Article conveying device |
CN2920788Y (en) | 2005-12-03 | 2007-07-11 | 毛立荣 | Multipurpose vehicle |
JP4735387B2 (en) | 2006-04-18 | 2011-07-27 | パナソニック株式会社 | Surface mount type current fuse |
JP4725387B2 (en) | 2006-03-28 | 2011-07-13 | 三菱電機株式会社 | Air conditioner |
JP4353956B2 (en) | 2006-04-19 | 2009-10-28 | 株式会社Kks | Suspension device for automatic guided vehicle |
US7826919B2 (en) | 2006-06-09 | 2010-11-02 | Kiva Systems, Inc. | Method and system for transporting inventory items |
US7912574B2 (en) | 2006-06-19 | 2011-03-22 | Kiva Systems, Inc. | System and method for transporting inventory items |
US8649899B2 (en) | 2006-06-19 | 2014-02-11 | Amazon Technologies, Inc. | System and method for maneuvering a mobile drive unit |
US8220710B2 (en) | 2006-06-19 | 2012-07-17 | Kiva Systems, Inc. | System and method for positioning a mobile drive unit |
JP2008000825A (en) | 2006-06-20 | 2008-01-10 | Konica Minolta Opto Inc | Method for controlling polishing amount of the glass substrate |
JP4739137B2 (en) | 2006-07-20 | 2011-08-03 | 富士通株式会社 | Luggage transfer robot |
JP2008033760A (en) | 2006-07-31 | 2008-02-14 | Secom Co Ltd | Mobile robot |
US7495561B2 (en) | 2006-08-25 | 2009-02-24 | International Business Machines Corporation | Item position indicator and optimized item retrieval for a sensor equipped storage unit |
WO2008038393A1 (en) | 2006-09-28 | 2008-04-03 | Hirata Corporation | Automatic warehouse |
US7850413B2 (en) | 2007-01-05 | 2010-12-14 | Kiva Systems, Inc. | System and method for transporting inventory items |
MX2009007465A (en) | 2007-01-12 | 2009-10-08 | Opex Corp | Method and apparatus for sorting items. |
DE102007005561B4 (en) | 2007-01-24 | 2009-11-26 | SSI Schäfer Noell GmbH Lager- und Systemtechnik | Picking system with shelf transport unit and method for operating such a system |
US20080215180A1 (en) | 2007-03-02 | 2008-09-04 | Rao Kota | Arrangement for dynamic lean replenishment and methods therefor |
JP5229442B2 (en) | 2007-03-27 | 2013-07-03 | いすゞ自動車株式会社 | Automated guided vehicle body |
DE102007016662C5 (en) | 2007-04-04 | 2022-09-15 | Kuka Deutschland Gmbh | Omnidirectional vehicle and mobile industrial robot |
WO2008130560A1 (en) | 2007-04-19 | 2008-10-30 | Nikon Corporation | Three degree of movement mover and method for controlling the same |
US8260499B2 (en) | 2007-05-01 | 2012-09-04 | Deere & Company | Automatic steering system and method for a work vehicle with feedback gain dependent on a sensed payload |
KR100883520B1 (en) | 2007-07-23 | 2009-02-13 | 한국전자통신연구원 | Method and apparatus for providing indoor eco-map |
US8452628B2 (en) | 2007-10-10 | 2013-05-28 | Sap Ag | System and method of facilitating interaction between members of supply chain |
JP5099772B2 (en) | 2008-05-27 | 2012-12-19 | 独立行政法人産業技術総合研究所 | Wheelchair drive device |
ITMC20080107A1 (en) | 2008-06-09 | 2009-12-10 | Qs Group Spa | DEVICE AND METHOD FOR COLLECTION, HANDLING AND STORAGE OF HILLS IN AN AUTOMATED MAGAZINE. |
JP2010013260A (en) | 2008-07-04 | 2010-01-21 | Murata Mach Ltd | Conveyance system, and traveling vehicle |
JP2010049987A (en) | 2008-08-22 | 2010-03-04 | Rohm Co Ltd | Manufacturing system using photoresist, and its lighting source |
JP2010132370A (en) | 2008-12-02 | 2010-06-17 | Murata Machinery Ltd | Carrying vehicle system |
US8094035B2 (en) | 2009-09-24 | 2012-01-10 | Autoliv Asp, Inc. | Storage rack safety device |
JP5337007B2 (en) | 2009-11-30 | 2013-11-06 | アロン化成株式会社 | Manhole cover |
JP5310686B2 (en) | 2010-09-28 | 2013-10-09 | 村田機械株式会社 | Article conveying device |
US9522781B2 (en) | 2010-09-30 | 2016-12-20 | Dematic Systems Gmbh | Shuttle for automated warehouse |
US11078017B2 (en) | 2010-12-15 | 2021-08-03 | Symbotic Llc | Automated bot with transfer arm |
US8998554B2 (en) | 2010-12-15 | 2015-04-07 | Symbotic Llc | Multilevel vertical conveyor platform guides |
US8696010B2 (en) | 2010-12-15 | 2014-04-15 | Symbotic, LLC | Suspension system for autonomous transports |
CN202321418U (en) | 2011-11-30 | 2012-07-11 | 云南昆船设计研究院 | Automatic storage equipment of cigarette stick-shaped charging tray |
EP2745869A1 (en) | 2012-12-21 | 2014-06-25 | ECP Entwicklungsgesellschaft mbH | Sluice assembly for the introduction of a cord-like body, in particular of a catheter, into a patient |
JP3189545U (en) | 2013-12-17 | 2014-03-20 | タック株式会社 | Chairs and chair sets |
US9850079B2 (en) | 2015-01-23 | 2017-12-26 | Symbotic, LLC | Storage and retrieval system transport vehicle |
US10435075B2 (en) | 2016-05-06 | 2019-10-08 | Arvinmeritor Technology, Llc | Suspension module having a subframe assembly |
-
2011
- 2011-12-15 US US13/326,993 patent/US9499338B2/en active Active
-
2016
- 2016-11-22 US US15/359,204 patent/US9908698B2/en active Active
-
2018
- 2018-03-06 US US15/913,719 patent/US10227177B2/en active Active
-
2019
- 2019-03-12 US US16/351,374 patent/US10683169B2/en active Active
-
2020
- 2020-06-16 US US16/903,165 patent/US11273981B2/en active Active
-
2022
- 2022-03-14 US US17/654,752 patent/US11952214B2/en active Active
Patent Citations (387)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2673689A (en) | 1954-03-30 | Toy railroad track | ||
US1887667A (en) | 1929-04-02 | 1932-11-15 | Mechanical Transfer Car Corp | Means of parking cars in garages |
US1845962A (en) | 1930-10-18 | 1932-02-16 | George W Dorr | Toy railway |
US2606508A (en) | 1950-02-24 | 1952-08-12 | Nicolas John Van Nes | Means for handling freight |
US2656995A (en) | 1951-05-09 | 1953-10-27 | Goodyear Aircraft Corp | Multiposition caster lock for airplane cross-wind main landing wheels |
US2923421A (en) | 1955-04-13 | 1960-02-02 | Roumefort Francois De Senig De | Improvements in mechanized garages |
US2792234A (en) | 1955-08-23 | 1957-05-14 | Truckstell Mfg Company | Swivel connection for vehicle frames |
US2877575A (en) | 1956-01-25 | 1959-03-17 | Harry C Stedt | Boom-suspension buckets and the like |
US2996621A (en) | 1958-04-01 | 1961-08-15 | Jr Arthur M Barrett | Electronic steering for industrial trucks |
US3269744A (en) | 1962-03-15 | 1966-08-30 | Peter V Dobson | Trucks |
US3162459A (en) | 1962-11-15 | 1964-12-22 | Green Giant Company | Folding frame for farm implements |
US3370492A (en) | 1965-04-02 | 1968-02-27 | Smithe Machine Co Inc F L | Die cutting presses |
JPS4735387B1 (en) | 1966-09-09 | 1972-09-06 | ||
US3636586A (en) | 1969-12-11 | 1972-01-25 | American Hospital Supply Corp | Caster and swivel lock assembly |
US3732828A (en) | 1970-03-17 | 1973-05-15 | M Wanner | Variable gage railway truck |
US3738506A (en) | 1970-11-06 | 1973-06-12 | A Cornford | Automatic storage system |
US3904216A (en) | 1971-11-30 | 1975-09-09 | Charles E Metrailer | Variable height transport carriage |
US3744945A (en) | 1971-11-30 | 1973-07-10 | C Metrailer | Apparatus for modular concrete constructions |
US3774543A (en) | 1971-12-08 | 1973-11-27 | Pullman Inc | Passenger vehicle static switching apparatus |
US3782565A (en) | 1971-12-23 | 1974-01-01 | J Doran | Automated handling system for container held material |
US3751758A (en) | 1972-07-05 | 1973-08-14 | American Hospital Supply Corp | Caster and swivel lock assembly |
US3789765A (en) | 1972-10-26 | 1974-02-05 | A Schultz | Switching system |
US3811383A (en) | 1972-11-14 | 1974-05-21 | Rexnord Inc | Car switching system |
US3876095A (en) | 1973-03-05 | 1975-04-08 | Harry C Stedt | Material handling apparatus |
JPS49131671U (en) | 1973-03-10 | 1974-11-12 | ||
JPS5310055Y2 (en) | 1973-03-10 | 1978-03-16 | ||
US3940105A (en) | 1973-04-12 | 1976-02-24 | Metrailer Charles E | Form support for use in making arched ceiling |
US3876087A (en) | 1973-05-22 | 1975-04-08 | Francesco Osta | Removable cylinder carrying carriage, for rotary machines for the treatment of band material |
US3822647A (en) | 1973-07-09 | 1974-07-09 | Rohr Industries Inc | Passive switching system |
US3850111A (en) | 1973-10-23 | 1974-11-26 | Clark Equipment Co | Vehicle mounted plate having guide rollers |
US3976302A (en) | 1973-12-07 | 1976-08-24 | Sten Ove Hammarstrand | Pivoting axle system for terrain vehicles |
US3970840A (en) | 1974-07-16 | 1976-07-20 | Lear Siegler, Inc. | Control circuitry for vehicle guidance mechanism |
US3896955A (en) | 1974-10-03 | 1975-07-29 | California Inst Of Techn | Automated multi-level vehicle parking system |
US3984012A (en) | 1975-04-16 | 1976-10-05 | Lyman Ennis F | Automatic storage and retrieval system for motor vehicles and the like |
US4087116A (en) | 1975-08-15 | 1978-05-02 | Toyo Kogyo Co., Ltd. | Drive axle suspension system in motor vehicle |
US4026365A (en) | 1975-11-10 | 1977-05-31 | International Harvester Company | Caster wheel supported agricultural implement with self-locking caster wheel |
US4057019A (en) | 1976-01-19 | 1977-11-08 | Caterpillar Tractor Co. | Self-contained steering guidance means |
US4072203A (en) | 1976-05-14 | 1978-02-07 | Pierson Neil W | Small, personal, all terrain vehicle |
US4213396A (en) | 1976-06-18 | 1980-07-22 | Daimler-Benz Aktiengesellschaft | Traffic system with drive channel and road vehicles mechanically cross guided-therein |
US4079955A (en) | 1976-08-09 | 1978-03-21 | The United States Of America As Represented By The Secretary Of The Army | Locking device |
US4037291A (en) | 1976-08-19 | 1977-07-26 | American Hospital Supply Corporation | Caster and swivel lock assembly |
US4174854A (en) | 1977-03-09 | 1979-11-20 | Zettelmeyer Maschinenfabrick GmbH & Co. KG Konz | Building and constructional machines or vehicles |
US4183304A (en) | 1977-05-11 | 1980-01-15 | Daimler-Benz Aktiengesellschaft | Traffic system for track-guided vehicles with steerable wheels |
US4214535A (en) | 1977-09-27 | 1980-07-29 | Waggonfabrik Uerdingen A.G. | Switch for a suspended railway vehicle |
US4271764A (en) | 1978-03-29 | 1981-06-09 | Daimler-Benz Aktiengesellschaft | Vehicle adapted to be guided on tracks for the public local passenger traffic with pivotal rear axle and longitudinal guide members for such axle |
US4395181A (en) | 1978-07-17 | 1983-07-26 | Litton Systems, Inc. | Robot vehicle |
US4372219A (en) | 1978-09-22 | 1983-02-08 | Gibbs-Ryder Materials Handling Systems, Inc. | Material handling system |
US4346659A (en) | 1978-10-13 | 1982-08-31 | Daimler-Benz Aktiengesellschaft | Bi-modal mechanically trackable road vehicle with automatic axle latching mechanism |
US4273234A (en) | 1979-02-02 | 1981-06-16 | Bourgeois Ronald D | Conveyor storage system |
US4223611A (en) | 1979-04-11 | 1980-09-23 | The Boeing Company | Vehicle steering apparatus |
US4268207A (en) | 1979-07-06 | 1981-05-19 | Eaton Corporation | Load support and shuttle |
US4394104A (en) | 1979-07-16 | 1983-07-19 | Mario Camerini | Container storage installation |
US4470742A (en) | 1979-08-21 | 1984-09-11 | Claude Louis Schindler | Storing plant |
US4353572A (en) | 1980-06-02 | 1982-10-12 | The United States Of America As Represented By The Secretary Of The Army | Articulation joint roll stabilizer |
US4349938A (en) | 1980-07-11 | 1982-09-21 | Stewart-Warner Corporation | Caster assembly with swivel lock |
US4349937A (en) | 1980-07-11 | 1982-09-21 | Stewart-Warner Corporation | Caster assembly with swivel lock and brake |
US4428708A (en) | 1980-12-31 | 1984-01-31 | Midwest Conveyor Co., Inc. | Apparatus and method for fine positioning a vehicle at a storage bin in an automatic storage and retrieval system |
US4445440A (en) | 1981-01-23 | 1984-05-01 | Daimler-Benz Aktiengesellschaft | Track guided vehicle |
US4492504A (en) | 1981-12-07 | 1985-01-08 | Bell & Howell Company | Materials handling system |
JPS5931297A (en) | 1982-08-13 | 1984-02-20 | 株式会社キト− | Locking device for lifting bed in freight handling truck loading shelf-loading lift |
US4527486A (en) | 1983-06-10 | 1985-07-09 | Saturn Machine & Welding Co., Inc. | Vehicle with selectively useable wheel sets |
US4862807A (en) | 1983-07-12 | 1989-09-05 | Cimarron Technology Ltd. | Passive railway switching system |
WO1985001493A1 (en) | 1983-10-03 | 1985-04-11 | Hans Sieber | Storage installation |
US4715662A (en) | 1983-12-16 | 1987-12-29 | Robert Bosch Gmbh | Method for determining an optimal slip value |
JPS60153309A (en) | 1984-01-21 | 1985-08-12 | Ikegami Tsushinki Co Ltd | Device for inserting electronic part into print circuit board |
US4750429A (en) | 1984-05-09 | 1988-06-14 | Flyda-Mordaunt Limited | Transportation systems |
US4716530A (en) | 1984-05-21 | 1987-12-29 | Kabushiki Kaisha Meidensha | System for automatically controlling movement of unmanned vehicle and method therefor |
JPS6241705A (en) | 1985-08-16 | 1987-02-23 | Denki Kagaku Kogyo Kk | Production of carbonaceous material coated with glassy carbon |
US4678390A (en) | 1986-03-26 | 1987-07-07 | Societe Anonyme Redoute Catalogue | Automated self-powered material handling truck |
US4773807A (en) | 1986-04-30 | 1988-09-27 | Harnischfeger Engineers, Inc. | High-speed automatic storage and retrieval system and apparatus therefor |
US4733740A (en) | 1986-05-06 | 1988-03-29 | Custom Technologies, Inc. | Automated guided vehicle system |
US5380139A (en) | 1986-06-30 | 1995-01-10 | Kone Oy | Load handling method and system |
JPS6337007A (en) | 1986-07-31 | 1988-02-17 | Daifuku Co Ltd | Article sorting equipment |
US4812985A (en) | 1986-09-15 | 1989-03-14 | Ja-Pac, Inc | Article storage and retrieval system |
US5219264A (en) | 1986-09-19 | 1993-06-15 | Texas Instruments Incorporated | Mobile robot on-board vision system |
US5135344A (en) | 1986-12-25 | 1992-08-04 | Kabushikkaisha Itoki Kosakusho | Automatic storage/retrieval apparatus for articles |
US4811229A (en) | 1987-01-05 | 1989-03-07 | Hewlett-Packard Company | Control system for automatic guided vehicles |
US4905783A (en) | 1987-06-26 | 1990-03-06 | Ford Motor Company | Vehicular controller with differential wheel speed input |
US5004399A (en) | 1987-09-04 | 1991-04-02 | Texas Instruments Incorporated | Robot slice aligning end effector |
US4878876A (en) | 1987-09-12 | 1989-11-07 | Nikko Co., Ltd. | Apparatus for changing the running track of a racing toy |
US4887016A (en) | 1987-09-21 | 1989-12-12 | Viking Systems International, Inc. | Portable robot with automatic set-up |
US4966242A (en) | 1988-08-22 | 1990-10-30 | Les Entreprises Bernard Baillargeon Inc. | All-terrain vehicle |
US4883401A (en) | 1988-10-21 | 1989-11-28 | Jervis B. Webb Company | Article handling apparatus for the storage and delivery of plural types of articles |
US4942826A (en) | 1989-04-12 | 1990-07-24 | Trackmobile, Inc. | Vehicle having variable gauge rail wheels |
US5179329A (en) | 1989-04-25 | 1993-01-12 | Shinko Electric Co., Ltd. | Travel control method, travel control device, and mobile robot for mobile robot systems |
US5096355A (en) | 1989-05-02 | 1992-03-17 | Copla Forder-Und Lagertechnik Gesellschaft Fur Anlagenbau Mbh | High bay racking store for storing and for removing from storage goods in the form of rolls, in a particular paper rolls |
US5015145A (en) | 1989-10-06 | 1991-05-14 | R. J. Reynolds Tobacco Company | Automated cargo loading system |
US5134940A (en) | 1989-10-13 | 1992-08-04 | Daifuku Co., Ltd. | Self-propelled platform car type conveying system |
US5548516A (en) | 1989-12-11 | 1996-08-20 | Caterpillar Inc. | Multi-tasked navigation system and method for an autonomous land based vehicle |
US5069592A (en) | 1990-03-13 | 1991-12-03 | Lev Galperin | Automated multistorey parking building |
US5362197A (en) | 1990-05-07 | 1994-11-08 | Stanley-Vidmar, Inc. | Automatic storage and retrieval system |
US5226782A (en) | 1990-05-07 | 1993-07-13 | Stanley-Vidmar, Inc. | Automatic storage and retrieval system |
US5650703B1 (en) | 1990-06-28 | 1999-03-02 | Hk Systems Inc | Downward compatible agv system and methods |
US5650703A (en) | 1990-06-28 | 1997-07-22 | Hk Systems, Inc. | Downward compatible AGV system and methods |
EP0466004A1 (en) | 1990-07-10 | 1992-01-15 | Daifuku Co., Ltd. | Control system for automatic warehousing facility |
US5327354A (en) | 1990-07-10 | 1994-07-05 | Daifuku Co., Ltd. | Control system for automatic warehousing facility |
US5134353A (en) | 1990-07-10 | 1992-07-28 | Daifuku Co., Ltd. | Equipment for transporting a load |
US5668724A (en) | 1990-09-28 | 1997-09-16 | Robert Bosch Gmbh | Method for improving the controllabilty of motor vehicles |
US5187664A (en) | 1990-11-27 | 1993-02-16 | Eaton-Kenway, Inc. | Proportional position-sensing system for an automatic guided vehicle |
US5281901A (en) | 1990-12-03 | 1994-01-25 | Eaton-Kenway, Inc. | Downward compatible AGV system and methods |
US5425612A (en) | 1990-12-10 | 1995-06-20 | Ebstein; Simon | Mechanized and automatically managed installation for storing objects such as cars |
US5377851A (en) | 1991-01-28 | 1995-01-03 | Daifuku Co., Ltd. | Rack assembly |
DE4104527A1 (en) | 1991-02-14 | 1992-08-20 | Knapp Logistik Automation | DEVICE AND METHOD FOR PICKING PIECE |
US5333983A (en) | 1991-04-26 | 1994-08-02 | Daifuku Co., Ltd. | Rack arrangement |
US5333982A (en) | 1991-05-22 | 1994-08-02 | Daifuku Co., Ltd. | Load transport system for automated warehousing |
US5238100A (en) | 1991-06-13 | 1993-08-24 | Ford Motor Company | Method and apparatus for handling glass sheets |
US5168815A (en) | 1991-07-31 | 1992-12-08 | Stewart & Stevenson Services, Inc. | Railroad car moving vehicle |
US5307888A (en) | 1991-09-12 | 1994-05-03 | Giat Industries | Method and apparatus for controlling the steering of a vehicle that is tracked or that has non-steerable wheels |
US5265944A (en) | 1991-09-23 | 1993-11-30 | Allied-Signal, Inc. | Wheel speed verification system |
US5156639A (en) | 1991-11-18 | 1992-10-20 | Deere & Company | Railway maintenance vehicle |
US5370492A (en) | 1991-12-24 | 1994-12-06 | Societe D'etude En Mecanisation Et Automation (Cimat) | Automated stores and novel type of truck making it possible for the products to be positioned in or extracted from the storage zones |
US5501295A (en) | 1992-02-17 | 1996-03-26 | Inventio Ag | Cableless elevator system |
US5397212A (en) | 1992-02-21 | 1995-03-14 | Ebara Corporation | Robot with dust-free and maintenance-free actuators |
US5218909A (en) | 1992-04-21 | 1993-06-15 | Ng Cody K M | Slot track racing apparatus |
US5271703A (en) | 1992-05-08 | 1993-12-21 | Si Handling System, Inc. | Automatic order selection system capable of responding to simultaneous order requests |
US5405232A (en) | 1992-05-20 | 1995-04-11 | Harnischfeger Engineers, Inc. | Automatic storage and retrieval system |
JPH061309A (en) | 1992-06-16 | 1994-01-11 | Asahi Kasei Micro Syst Kk | Semiconductor device packing device |
US5434490A (en) | 1992-07-31 | 1995-07-18 | Daifuku Co., Ltd. | Article transport system |
US5410969A (en) | 1992-08-11 | 1995-05-02 | Techlam | Steering device for a vehicle bogey fitted with wheels having pneumatic tires |
US5450797A (en) | 1992-09-17 | 1995-09-19 | Mannesmann Aktiengesellschaft | Transporting system with a floor conveyor device guided on guide rails |
US5421265A (en) | 1992-10-21 | 1995-06-06 | Kawasaki Jukogyo Kabushiki Kaisha | Truck wheel-spacing changing method, and variable wheel-spacing truck, and ground facility therefor |
US5418732A (en) | 1992-11-25 | 1995-05-23 | Odetics, Inc. | Laser targeting system |
US5377910A (en) | 1993-02-18 | 1995-01-03 | Newton; Alan R. | Railroad system |
US5801506A (en) | 1993-07-22 | 1998-09-01 | Apogeum Ab | Method and device for control of AGV |
US5718551A (en) | 1993-09-15 | 1998-02-17 | Ebstein; Simon | Automatic mechanized system for the storage of objects |
US5839872A (en) | 1993-10-07 | 1998-11-24 | Daifuku Co., Ltd. | Apparatus for transferring cargoes |
EP0647575A1 (en) | 1993-10-07 | 1995-04-12 | Daifuku Co., Ltd. | Apparatus for transferring cargoes |
US5615992A (en) | 1993-11-24 | 1997-04-01 | Carl Schenck Ag | Method storing or restacking goods carriers in multi-storied warehouse |
JPH07157013A (en) | 1993-12-10 | 1995-06-20 | Okamura Corp | Transfer position control device for cargo in automatic warehouse |
JPH07187330A (en) | 1993-12-27 | 1995-07-25 | Itoki Crebio Corp | Bidirectional transfer equipment in automatic warehouse |
US5588796A (en) | 1994-04-18 | 1996-12-31 | Atg Cygnet Inc. | Apparatus and method for handling information storage media |
US5743562A (en) | 1994-06-07 | 1998-04-28 | Mottola; Frederik R. | Simulator for teaching vehicle speed control and skid recovery |
US6024381A (en) | 1994-06-07 | 2000-02-15 | Mottola; Frederik R. | Simulator for teaching vehicle speed control and skid recovery techniques |
US5626362A (en) | 1994-06-07 | 1997-05-06 | Interactive Driving Systems, Inc. | Simulator for teaching vehicle speed control and skid recovery techniques |
JPH081553A (en) | 1994-06-15 | 1996-01-09 | Murata Mach Ltd | Robot-mounted automated guided vehicle |
WO1995034491A1 (en) | 1994-06-16 | 1995-12-21 | Macgregor (Fin) Oy | Four-chain paternoster cargo handling system |
US6021367A (en) | 1994-08-24 | 2000-02-01 | Ford Global Technologies, Inc. | Vehicle steering system and method for controlling vehicle direction through differential braking of left and right road wheels |
JPH08113321A (en) | 1994-10-14 | 1996-05-07 | Itoki Crebio Corp | Article carry in and out device of moving truck in automatic warehouse |
JPH08133426A (en) | 1994-11-04 | 1996-05-28 | Itoki Crebio Corp | Pick-up control method for automatic warehouse |
US5525884A (en) | 1995-02-10 | 1996-06-11 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
FR2730715A1 (en) | 1995-02-22 | 1996-08-23 | Gec Alsthom Syst Et Serv | Self powered handling truck for multi level stores, |
JPH08258763A (en) | 1995-03-23 | 1996-10-08 | Daifuku Co Ltd | Article conveying vehicle |
EP0737630A1 (en) | 1995-04-11 | 1996-10-16 | Gec Alsthom Systemes Et Services Sa | Self-propelled vehicle with telescopic forks for handling loaded pallets in warehouses and warehouse |
US5667230A (en) | 1995-06-02 | 1997-09-16 | Dsc Communications Corporation | Rack lift assembly |
US5725063A (en) | 1995-08-14 | 1998-03-10 | Case Corporation | Articulated work vehicle |
US5632350A (en) | 1995-08-30 | 1997-05-27 | Gauvin; Donald | Articulated vehicle |
JPH09131671A (en) | 1995-11-10 | 1997-05-20 | Maruzen Kogyo Kk | Hydraulic breaker |
US5829096A (en) | 1996-01-29 | 1998-11-03 | Perry; Eugene D. | Locking caster |
US5764014A (en) | 1996-02-01 | 1998-06-09 | Mannesmann Dematic Rapistan Corp. | Automated guided vehicle having ground track sensor |
US5806870A (en) | 1996-02-05 | 1998-09-15 | Hull; Harold L. | Utility vehicle having two pivotable chassis |
JP3867866B2 (en) | 1996-05-28 | 2007-01-17 | 株式会社日立プラントテクノロジー | Automated guided vehicle |
US6036427A (en) | 1996-05-29 | 2000-03-14 | Daifuku Co., Ltd. | Guided vehicle system for transporting loads |
US5928058A (en) | 1996-06-07 | 1999-07-27 | Francis; Geoffrey V. | Slot car and mechanism for guiding same |
US5866469A (en) | 1996-06-13 | 1999-02-02 | Boeing North American, Inc. | Method of anodic wafer bonding |
US6645355B2 (en) | 1996-07-15 | 2003-11-11 | Semitool, Inc. | Semiconductor processing apparatus having lift and tilt mechanism |
US7002698B2 (en) | 1996-07-15 | 2006-02-21 | Semitool, Inc. | Semiconductor processing apparatus having lift and tilt mechanism |
US6000502A (en) | 1996-09-09 | 1999-12-14 | Crown Equipment Corporation | Personnel carrying vehicle |
US5927926A (en) | 1996-10-21 | 1999-07-27 | Itoki Crebio Corporation | Carriage for storage-retrieval system with locking-engaging members |
US5857413A (en) | 1997-01-16 | 1999-01-12 | Ward; Glen N. | Method and apparatus for automated powered pallet |
US5899469A (en) | 1997-02-06 | 1999-05-04 | Pinto; David Alexander | Vehicle with lockable casters |
US6038501A (en) | 1997-02-27 | 2000-03-14 | Minolta Co., Ltd. | Autonomous vehicle capable of traveling/stopping in parallel to wall and controlling method thereof |
US5833431A (en) | 1997-03-04 | 1998-11-10 | Rosse, Iii; Sammy A. | Warehouse truck attachment and method for the transportation and storage of compressible items |
US5802980A (en) | 1997-04-07 | 1998-09-08 | Dfm Enterprises, Inc. | Vehicle drive system for road and railroad track |
US5918951A (en) | 1997-05-09 | 1999-07-06 | The B.F. Goodrich Company | Antiskid brake control system using kalman filtering |
US6220676B1 (en) | 1997-05-09 | 2001-04-24 | The B. F. Goodrich Company | Antiskid control of multi-wheel vehicles using coupled and decoupled Kalman filtering incorporating pitch weight transfer |
US6062942A (en) | 1997-05-26 | 2000-05-16 | Asahi Corporation | Interactive intersection for toy tracks |
US6061607A (en) | 1997-07-18 | 2000-05-09 | St. Onge Company | Order pick system |
US5988306A (en) | 1997-08-29 | 1999-11-23 | Yazaki Industrial Chemical Co., Ltd. | Automatically guided vehicle |
US20080161987A1 (en) | 1997-10-22 | 2008-07-03 | Intelligent Technologies International, Inc. | Autonomous Vehicle Travel Control Systems and Methods |
US6390756B1 (en) | 1997-10-29 | 2002-05-21 | Siemens Dematic Postal Automation, L.P. | Transfer of cartridges containing flat articles |
US6158566A (en) | 1997-11-12 | 2000-12-12 | Dillin Engineered Systems Corporation | Transfer system for a conveyor |
JPH11180697A (en) | 1997-12-24 | 1999-07-06 | Tokai Rubber Ind Ltd | Operation control method for unmanned traveling vehicle and unmanned traveling vehicle |
US6272406B2 (en) | 1998-03-09 | 2001-08-07 | Jervis B. Webb Company | Guidance system for an automated guided-vehicle |
JP2000122720A (en) | 1998-10-19 | 2000-04-28 | Ishikawajima Harima Heavy Ind Co Ltd | Method for carrying article to be inspected through unmanned carrier |
JP2000118615A (en) | 1998-10-19 | 2000-04-25 | Ishikawajima Harima Heavy Ind Co Ltd | Transferring device and automated storage and retrieval system provided with the same |
US6929440B1 (en) | 1998-12-15 | 2005-08-16 | Johann Walter Grond | Method and storage loading system for loading and unloading loads in storage |
US6851921B2 (en) | 1999-07-30 | 2005-02-08 | Gerhard Haag | Automated parking garage |
US20070276535A1 (en) | 1999-07-30 | 2007-11-29 | Gerhard Haag | Automated warehouse facility |
US6508102B1 (en) | 1999-08-26 | 2003-01-21 | Aisin Seiki Co., Ltd. | Near real-time friction estimation for pre-emptive vehicle control |
US6360673B1 (en) | 1999-09-01 | 2002-03-26 | Siemens Electrocom, L.P. | Trolley chassis |
US6325586B1 (en) | 1999-12-08 | 2001-12-04 | Protosight, Inc. | Automated storage and retrieval system |
US6439955B1 (en) | 1999-12-21 | 2002-08-27 | The Marketing Store Worldwide L.P. | Toy vehicle and track system |
US7155308B2 (en) | 2000-01-24 | 2006-12-26 | Irobot Corporation | Robot obstacle detection system |
CN1310125A (en) | 2000-02-01 | 2001-08-29 | 庄臣及庄臣视力保护公司 | Equipoment and method for automatic warehousing and filling in order according to multinomial-item inventory |
EP1122194A1 (en) | 2000-02-01 | 2001-08-08 | Johnson & Johnson Vision Care, Inc. | Apparatus and method for automated warehousing |
US7128196B2 (en) | 2000-02-07 | 2006-10-31 | Progressive Tool & Industries Co. | Flexible automotive assembly line method |
US7011487B2 (en) | 2000-03-06 | 2006-03-14 | Jervis B. Webb Company | Apparatus for transport and delivery of articles |
US6324994B1 (en) | 2000-03-09 | 2001-12-04 | Charles A. Glenn | Hybrid transit system |
US6352035B1 (en) | 2000-03-24 | 2002-03-05 | Nikken Corporation | Driving mechanism of a track traveling vehicle |
US6345217B1 (en) | 2000-03-31 | 2002-02-05 | Rapistan Systems Advertising Corp. | Automated guided vehicle (AGV) with bipolar magnet sensing |
US7158866B2 (en) | 2000-04-12 | 2007-01-02 | Nira Dynamics Ab | Adaptive filter model for motor vehicle sensor signals |
US20020076307A1 (en) | 2000-04-13 | 2002-06-20 | Ibp, Inc. | Method of automation for flow through storage |
US6389981B1 (en) | 2000-05-16 | 2002-05-21 | Wilfred Strothmann Gmbh & Co. Kg, Mashinenbau Und Handhabungstechnik | Trolley for track systems |
WO2001087648A1 (en) | 2000-05-17 | 2001-11-22 | The Boler Company | Truck suspensions incorporating asymmetric leaf springs |
JP2001344020A (en) | 2000-05-31 | 2001-12-14 | Nippon Yusoki Co Ltd | Controller and control method for automated guided vehicle |
US6652213B1 (en) | 2000-09-08 | 2003-11-25 | California Natural Products | Automated warehousing system and method |
US6629502B2 (en) | 2000-09-14 | 2003-10-07 | Daifuku Co., Ltd. | Conveyance system |
US20020037208A1 (en) | 2000-09-27 | 2002-03-28 | Donato Patrito | Cellular warehouse with facilitated load unit handling |
EP1193195A2 (en) | 2000-09-27 | 2002-04-03 | Fata Handling S.p.A. | Cellular warehouse with facilitated load unit handling |
US6808058B2 (en) | 2001-02-02 | 2004-10-26 | Daifuku Co., Ltd. | Article joining control method |
US6928336B2 (en) | 2001-02-12 | 2005-08-09 | The Stanley Works | System and architecture for providing a modular intelligent assist system |
US6563128B2 (en) | 2001-03-09 | 2003-05-13 | Cymer, Inc. | Base stabilization system |
US6692211B2 (en) | 2001-03-30 | 2004-02-17 | Yuyama Mfg. Co., Ltd. | Transfusion bottle feed apparatus |
US7074151B2 (en) | 2001-04-17 | 2006-07-11 | Qinetiq Limited | Drive configuration for a skid steered vehicle |
US6439131B1 (en) | 2001-04-27 | 2002-08-27 | Joseph M. Higgins | Convertible highway and rail freight vehicle |
DE10142395A1 (en) | 2001-05-03 | 2002-11-14 | Fraunhofer Ges Forschung | Storage and transport system comprises rows of shelves holding stored goods, rails arranged between the rows of shelves, rail vehicles, and devices for moving the vehicles between the shelves |
US6721638B2 (en) | 2001-05-07 | 2004-04-13 | Rapistan Systems Advertising Corp. | AGV position and heading controller |
US6695328B2 (en) | 2001-05-16 | 2004-02-24 | Calvin Keith Cope | Vehicle frame assembly and split-frame vehicle |
JP2002356207A (en) | 2001-05-31 | 2002-12-10 | Itoki Crebio Corp | Automated storage and retrieval warehouse |
US7003375B2 (en) | 2001-08-31 | 2006-02-21 | Daifuku Co., Ltd. | Load storage apparatus |
US6601435B2 (en) | 2001-09-11 | 2003-08-05 | Hyundai Motor Company | Method and device for estimating a friction coefficient between a tire and a road surface |
US20030051544A1 (en) | 2001-09-11 | 2003-03-20 | Jin-Ho Hong | Method and device for estimating a friction coefficient between a tire and a road surface |
US20030074125A1 (en) | 2001-10-15 | 2003-04-17 | Walenty Allen John | Anti-lock brake yaw control method |
US6631321B1 (en) | 2001-10-29 | 2003-10-07 | Navigation Technologies Corp. | Vehicle heading change determination using compensated differential wheel speed |
US7636982B2 (en) | 2002-01-03 | 2009-12-29 | Irobot Corporation | Autonomous floor cleaning robot |
US20060257236A1 (en) | 2002-03-13 | 2006-11-16 | Stingel Frederick J Iii | Automated container storage and delivery system |
US7184855B2 (en) | 2002-03-13 | 2007-02-27 | Stingel Iii Frederick J | Automated container storage and delivery system |
CN2535331Y (en) | 2002-03-22 | 2003-02-12 | 湖北省机电研究设计院 | Drugstore manipulator |
US20050095095A1 (en) | 2002-03-29 | 2005-05-05 | Tgw Transportgerate Gmbh & Co. Kg | Support frame for a telescopic arm of a load-handling system and method of manipulating storage units |
US20030185656A1 (en) | 2002-03-29 | 2003-10-02 | Rudolf Hansl | Support frame for a telescopic arm of a load-handling system and a method of manipulating storage units |
US6655297B2 (en) | 2002-04-19 | 2003-12-02 | Daifuku Co., Ltd. | Transfer system using movable bodies |
US7058866B2 (en) | 2002-04-24 | 2006-06-06 | International Business Machines Corporation | Method and system for an on-chip AC self-test controller |
JP2003321102A (en) | 2002-05-02 | 2003-11-11 | Tokyo Electron Ltd | System for automatic guided vehicle |
US20050220600A1 (en) | 2002-05-13 | 2005-10-06 | Bakvertisi Limited | Apparatus for transporting containers |
US20050166787A1 (en) | 2002-05-24 | 2005-08-04 | Jan Astrom | Vehicle that can be driven on both roads and railroad tracks |
US7002772B2 (en) | 2002-07-03 | 2006-02-21 | International Business Machines Corporation | Gripper mechanism for tape cartridges |
JP2004043109A (en) | 2002-07-11 | 2004-02-12 | Itoki Crebio Corp | Transfer mechanism and automatic warehouse system with the same |
US7695235B1 (en) | 2002-07-19 | 2010-04-13 | Rallis John H | Automated warehousing and cargo loading system |
US7008164B2 (en) | 2002-08-28 | 2006-03-07 | Nippon Yusoki Co., Ltd. | Automated guided vehicle |
US20050029029A1 (en) | 2002-08-30 | 2005-02-10 | Aethon, Inc. | Robotic cart pulling vehicle |
US7769513B2 (en) | 2002-09-03 | 2010-08-03 | Automotive Technologies International, Inc. | Image processing for vehicular applications applying edge detection technique |
US6948899B2 (en) | 2002-09-04 | 2005-09-27 | Wan Young Lee | Palletless loading structure for storage system |
US7017228B2 (en) | 2002-10-02 | 2006-03-28 | Harlan Silverstein | Pneumatic locking swivel caster |
US7221998B2 (en) | 2002-10-17 | 2007-05-22 | David Brust | Determining pallet case configurations for placement by a robot |
US20120299260A1 (en) | 2002-10-25 | 2012-11-29 | Invacare Corporation | Suspension for wheeled vehicles |
US6988451B2 (en) | 2002-10-28 | 2006-01-24 | Brandt Road Rail Corporation | Rail car mover apparatus for loader vehicle |
US6763767B2 (en) | 2002-11-15 | 2004-07-20 | Central Manufacturing | Railcar mover having negative cambered rail wheels |
US7145478B2 (en) | 2002-12-17 | 2006-12-05 | Evolution Robotics, Inc. | Systems and methods for controlling a density of visual landmarks in a visual simultaneous localization and mapping system |
US20100286905A1 (en) | 2002-12-17 | 2010-11-11 | Evolution Robotics, Inc. | Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping |
US20040167667A1 (en) | 2002-12-17 | 2004-08-26 | Goncalves Luis Filipe Domingues | Systems and methods for filtering potentially unreliable visual data for visual simultaneous localization and mapping |
US7135992B2 (en) | 2002-12-17 | 2006-11-14 | Evolution Robotics, Inc. | Systems and methods for using multiple hypotheses in a visual simultaneous localization and mapping system |
US20120277940A1 (en) | 2003-01-06 | 2012-11-01 | Ajith Kuttannair Kumar | System and method for controlling movement of vehicles |
US20040136821A1 (en) * | 2003-01-14 | 2004-07-15 | New Holland North America, Inc. | Skid steer loader boom and bucket controls |
US6880202B2 (en) | 2003-04-04 | 2005-04-19 | M.C. Healthcare Products Inc. | Directional lock |
US7101139B1 (en) | 2003-05-06 | 2006-09-05 | Benedict Charles E | Automated material handling system with motorized transfer vehicles |
US7931431B2 (en) | 2003-05-06 | 2011-04-26 | Bec Companies, Inc. | Automated material handling system with load transfer vehicles |
US20060245862A1 (en) | 2003-05-20 | 2006-11-02 | Rudolf Hansl | Telescopic push arm, particularly for a load-receiving means |
US7110855B2 (en) | 2003-05-30 | 2006-09-19 | Sk Daifuku Corporation | Order processing system using pick and pass process and method of processing orders using the system |
US20050131645A1 (en) | 2003-06-09 | 2005-06-16 | Panopoulos Peter J. | Machine having automatic transport with scanning and GPS functions |
WO2005009324A2 (en) | 2003-07-22 | 2005-02-03 | Scriptpro Llc | Fork based transport storage system |
US20050047895A1 (en) | 2003-08-29 | 2005-03-03 | Lert John G. | Materials-handling system using autonomous transfer and transport vehicles |
US7991505B2 (en) | 2003-08-29 | 2011-08-02 | Casepick Systems, Llc | Materials-handling system using autonomous transfer and transport vehicles |
US20100076591A1 (en) | 2003-08-29 | 2010-03-25 | Casepick Systems, Llc | Materials-Handling System Using Autonomous Transfer and Transport Vehicles |
US20090074545A1 (en) * | 2003-08-29 | 2009-03-19 | Casepick Systems | Materials-handling system using autonomous transfer and transport vehicles |
US20100102532A1 (en) | 2003-10-01 | 2010-04-29 | Eanna Pronsias Timoney | Articulated dump truck |
US7960973B2 (en) | 2003-10-14 | 2011-06-14 | Merlin Technology, Inc. | Tracking positions of personnel, vehicles, and inanimate objects |
JP2005138956A (en) | 2003-11-06 | 2005-06-02 | Okamura Corp | Goods input method in automatic warehouse |
US7792350B2 (en) | 2003-11-10 | 2010-09-07 | Brooks Automation, Inc. | Wafer center finding |
JP2005206259A (en) | 2004-01-19 | 2005-08-04 | Bridgestone Corp | Pallet less automatic warehouse |
US7145747B2 (en) | 2004-03-05 | 2006-12-05 | Spectra Logic Corporation | Data cartridge library including a magazine, a picker, an elevator, and a grasper |
US7085097B2 (en) | 2004-03-05 | 2006-08-01 | Spectra Logic Corporation | Entry/exit port magazine for a data cartridge library |
US7119982B2 (en) | 2004-03-05 | 2006-10-10 | Spectra Logic Corporation | Data cartridge library operable with a multipiece magazine, drive bay, user interface, an entry/exit port, and universal electronics bay |
US7102848B2 (en) | 2004-03-05 | 2006-09-05 | Spectra Logic Corporation | Modular robotics system for a data cartridge library |
US20070177011A1 (en) | 2004-03-05 | 2007-08-02 | Lewin Andrew C | Movement control system |
EP1619148A1 (en) | 2004-03-17 | 2006-01-25 | KHT Kommissionier- und Handhabungstechnik GmbH | Storage system for automatically storing and delivering of goods, in particular of medicament packings |
US20050217532A1 (en) | 2004-03-30 | 2005-10-06 | Conneally Martin C | Tight curve high rail vehicle |
US20090114115A1 (en) | 2004-04-02 | 2009-05-07 | Minges Marcus C | System for storage and retrieval of warehousable objects |
US20050238455A1 (en) | 2004-04-23 | 2005-10-27 | Toteff Thomas S | Dual purpose track for holding wheel chocks and strap clips to tie down dirt bikes to trailers |
US20050238465A1 (en) | 2004-04-27 | 2005-10-27 | Razumov Sergey N | Robotic retail facility |
US20070297879A1 (en) * | 2004-04-30 | 2007-12-27 | Yuyama Mfg. Co., Ltd. | Cart Carrying Apparatus |
US20080269960A1 (en) | 2004-06-04 | 2008-10-30 | Helmut Kostmann | Method for Transporting Goods and Installation for Carrying Out Said Method |
US20060216137A1 (en) | 2004-07-02 | 2006-09-28 | Katsunori Sakata | Carrying apparatus and carrying control method for sheet-like substrate |
US20060018996A1 (en) | 2004-07-09 | 2006-01-26 | Pollock Paul W | Automatic discovery of a storage configuration method and apparatus |
US7506404B2 (en) | 2004-07-21 | 2009-03-24 | Tente Gmbh & Co. Kg | Caster having a running wheel |
US7433759B2 (en) | 2004-07-22 | 2008-10-07 | Applied Materials, Inc. | Apparatus and methods for positioning wafers |
US7319320B2 (en) | 2004-08-06 | 2008-01-15 | Denso Corporation | Rotation angle detecting device |
WO2006024035A2 (en) | 2004-08-24 | 2006-03-02 | Brooks Automation, Inc. | Transportation system |
JP2008510673A (en) | 2004-08-24 | 2008-04-10 | ブルックス オートメーション インコーポレイテッド | Transport system |
US7671293B2 (en) | 2004-09-08 | 2010-03-02 | Lockheed Martin Corporation | System and method for dynamic allocation for bin assignment |
US20060058921A1 (en) | 2004-09-13 | 2006-03-16 | Tamao Okamoto | Mobile robot |
US8060257B2 (en) | 2004-10-01 | 2011-11-15 | Redzone Robotics, Inc. | Network architecture for remote robot with interchangeable tools |
US20060210382A1 (en) | 2004-10-14 | 2006-09-21 | Distrobot Systems, Inc. | Inventory system with mobile drive unit and inventory holder |
US8007221B1 (en) | 2004-10-22 | 2011-08-30 | Irobot Corporation | Lifting apparatus for remote controlled robotic device |
US7192034B2 (en) | 2004-11-29 | 2007-03-20 | Deere & Company | Load based suspension motion limiting |
US7584812B2 (en) | 2004-11-29 | 2009-09-08 | Deere & Company | Articulated dozer with suspension and suspension lockout |
US7793742B2 (en) | 2004-11-30 | 2010-09-14 | Cool2, Inc. | Off road vehicle apparatus and method |
US7381022B1 (en) | 2004-12-18 | 2008-06-03 | Rodney Joe King | Automated 3-dimensional multitasking, stocking, storage, and distribution system |
US20090216366A1 (en) | 2004-12-29 | 2009-08-27 | Jacek Zuber | Optimizing vehicle loading operations |
US8280548B2 (en) | 2004-12-29 | 2012-10-02 | Sap Aktiengeselleschaft | Optimizing vehicle loading operations |
US8024066B2 (en) | 2005-01-18 | 2011-09-20 | Redzone Robotics, Inc. | Autonomous inspector mobile platform |
US20110271469A1 (en) | 2005-02-18 | 2011-11-10 | Andrew Ziegler | Autonomous surface cleaning robot for wet and dry cleaning |
US7771152B2 (en) | 2005-02-28 | 2010-08-10 | Keuro Besitz Gmbh & Co. | Rack module and method for rearranging stored goods in a rack module |
US20100043665A1 (en) | 2005-03-04 | 2010-02-25 | Georges Brigham | Mass transit vehicle system |
US7100294B1 (en) | 2005-03-24 | 2006-09-05 | Spectron Glass And Electronics, Inc | Method of sensing tilt, tilt sensor, and method of manufacturing same |
US8001837B2 (en) | 2005-05-05 | 2011-08-23 | Ologic, Inc. | Balancing device |
US20090188774A1 (en) | 2005-06-15 | 2009-07-30 | Daifuku Co., Ltd. | Article Transporting Apparatus and Method of Operating the Apparatus |
WO2007011814A2 (en) | 2005-07-19 | 2007-01-25 | Kiva Systems, Inc. | Method and system for storing inventory holders |
JP2009513457A (en) | 2005-07-19 | 2009-04-02 | キヴァ システムズ,インコーポレイテッド | Method and system for storing inventory holders |
US7386379B2 (en) | 2005-07-22 | 2008-06-10 | Gm Global Technology Operations, Inc. | Method and apparatus to control coordinated wheel motors |
US20090281656A1 (en) | 2005-08-19 | 2009-11-12 | Lonnie Draper | Inventory control and prescription dispensing system |
US7689318B2 (en) | 2005-08-19 | 2010-03-30 | Lonnie Draper | Inventory control and prescription dispensing system |
US20070059132A1 (en) | 2005-09-09 | 2007-03-15 | Daifuku Co., Ltd. | Article transport apparatus for an article storage system, and a method of operating the apparatus |
EP1775240A2 (en) | 2005-09-29 | 2007-04-18 | Daifuku Co., Ltd. | Article transporting facility and method of controlling the facility |
US7826926B2 (en) | 2005-11-07 | 2010-11-02 | Samsung Electronics Co., Ltd. | Robot and method of localizing the same |
JP2007131383A (en) | 2005-11-09 | 2007-05-31 | Toyota Industries Corp | Automated warehouse |
US20100044124A1 (en) | 2005-11-23 | 2010-02-25 | Radke Daniel D | Articulated Dozer With Suspension And Suspension Lockout |
US20070125727A1 (en) | 2005-12-07 | 2007-06-07 | Walter Winkler | Retail supply system |
US7686560B2 (en) | 2005-12-08 | 2010-03-30 | Conestoga Cold Storage | Rack, conveyor and shuttle automated pick system |
US7426970B2 (en) | 2005-12-30 | 2008-09-23 | Olsen Christopher J | Articulated wheel assemblies and vehicles therewith |
US7539557B2 (en) | 2005-12-30 | 2009-05-26 | Irobot Corporation | Autonomous mobile robot |
US7641014B2 (en) | 2006-01-31 | 2010-01-05 | Robert Bosch Gmbh | Traction control system and method |
JP2007230717A (en) | 2006-02-28 | 2007-09-13 | Sumitomo Metal Ind Ltd | Article management method using id tag |
US20100044977A1 (en) | 2006-04-26 | 2010-02-25 | Hughes Peter S | Vehicle with lockable tilt system |
US20080065265A1 (en) | 2006-05-31 | 2008-03-13 | Irobot Corporation | Detecting robot stasis |
US7974738B2 (en) | 2006-07-05 | 2011-07-05 | Battelle Energy Alliance, Llc | Robotics virtual rail system and method |
US7620477B2 (en) | 2006-07-05 | 2009-11-17 | Battelle Energy Alliance, Llc | Robotic intelligence kernel |
US7668621B2 (en) | 2006-07-05 | 2010-02-23 | The United States Of America As Represented By The United States Department Of Energy | Robotic guarded motion system and method |
US7801644B2 (en) | 2006-07-05 | 2010-09-21 | Battelle Energy Alliance, Llc | Generic robot architecture |
US7587260B2 (en) | 2006-07-05 | 2009-09-08 | Battelle Energy Alliance, Llc | Autonomous navigation system and method |
US7965871B2 (en) | 2006-07-13 | 2011-06-21 | Mitsubishi Fuso Truck And Bus Corporation | Moving-state determining device |
US20110106339A1 (en) | 2006-07-14 | 2011-05-05 | Emilie Phillips | Autonomous Behaviors for a Remote Vehicle |
US7909562B2 (en) | 2006-08-08 | 2011-03-22 | C&S Wholesale Grocers, Inc. | Material handling apparatus |
US7885750B2 (en) | 2006-08-30 | 2011-02-08 | Ford Global Technologies | Integrated control system for stability control of yaw, roll and lateral motion of a driving vehicle using an integrated sensing system to determine a sideslip angle |
JP2008100825A (en) | 2006-10-20 | 2008-05-01 | Nippon Yusoki Co Ltd | Cargo receiving structure |
US8006824B2 (en) | 2006-11-16 | 2011-08-30 | Hirata Corporation | Storage system and storage method |
US8000835B2 (en) | 2006-12-01 | 2011-08-16 | Lockheed Martin Corporation | Center of gravity sensing and adjusting load bar, program product, and related methods |
US20080154429A1 (en) | 2006-12-21 | 2008-06-26 | Samsung Electronics Co., Ltd. | Apparatus, method, and medium for distinguishing the movement state of mobile robot |
EP2039580A1 (en) | 2007-01-30 | 2009-03-25 | Daifuku Co., Ltd. | Carriage type conveyance device |
US8136650B2 (en) | 2007-05-03 | 2012-03-20 | Bibliotheca ITG LLC | Apparatus and methods for book handling |
WO2008152245A2 (en) | 2007-05-11 | 2008-12-18 | Savoye | Shuttle conveyor with tray for a storage and/or logistics preparation warehouse |
US7730781B2 (en) | 2007-06-01 | 2010-06-08 | Beijing Walkang Science & Technology Limited Company | Gas pendulum inertial sensor |
US7648002B2 (en) | 2007-06-08 | 2010-01-19 | Deere & Company | Vehicle with coordinated Ackerman and differential steering |
US20100135759A1 (en) | 2007-12-18 | 2010-06-03 | Dillon Ben N | Articulated Combine With Unloading and Rear Bogey Steering Architecture |
US20100290874A1 (en) | 2007-12-21 | 2010-11-18 | Tgw Mechanics Gmbh | Method for introducing loading auxiliary means of transport device |
US20100272546A1 (en) | 2008-01-11 | 2010-10-28 | Christoph Wolkerstorfer | Method and transport device for positioning loading aids prior to the transfer thereof into a shelf |
WO2009098573A1 (en) | 2008-02-04 | 2009-08-13 | S.I.T.I. Di Basso S.R.L. | Loading and unloading device for a translator-elevator apparatus |
WO2009106988A2 (en) | 2008-02-26 | 2009-09-03 | Administrador De Infraestructuras Ferroviarias (Adif) | Dual gauge-changing device on single platform |
US20110202175A1 (en) | 2008-04-24 | 2011-08-18 | Nikolai Romanov | Mobile robot for cleaning |
US7967354B2 (en) | 2008-05-06 | 2011-06-28 | Fanuc Robotics America, Inc. | Mixed size product handling end of arm tool |
US7926145B2 (en) | 2008-05-07 | 2011-04-19 | Chaokuo Liao | Selectively lockable caster |
US8042627B2 (en) | 2008-06-05 | 2011-10-25 | Samsung Electronics Co., Ltd. | Walking robot |
US20100086385A1 (en) | 2008-10-06 | 2010-04-08 | Haim Shani | Shuttle Cars for Use in Automated Parking |
US20110185975A1 (en) | 2008-10-16 | 2011-08-04 | Lely Patent N.V. | Unmanned vehicle comprising a protection device |
US8041456B1 (en) | 2008-10-22 | 2011-10-18 | Anybots, Inc. | Self-balancing robot including an ultracapacitor power source |
US20110008138A1 (en) | 2008-10-27 | 2011-01-13 | Dematic Gmbh | Transferring shuttle for three dimensional automated warehouse |
US20130142599A1 (en) | 2008-11-07 | 2013-06-06 | Joseph Coleman McDowell, JR. | Automatic parking structure |
US20100131182A1 (en) | 2008-11-21 | 2010-05-27 | Michael Deegan | Systems and methods for measuring weight and weight distribution of a payload |
US20100145507A1 (en) * | 2008-12-04 | 2010-06-10 | Donald Blust | Automated business system and method of vending and returning a consumer product |
US20100234995A1 (en) | 2008-12-05 | 2010-09-16 | Aldo Zini | System and method for securely transporting an item |
US8031086B2 (en) | 2008-12-10 | 2011-10-04 | Deere & Company | Method and system for determining a position of a vehicle |
US20100141483A1 (en) | 2008-12-10 | 2010-06-10 | Russell James Thacher | Method and system for determining a position of a vehicle |
WO2010080539A1 (en) | 2008-12-18 | 2010-07-15 | Payge Marie Hamby | Shelving deck |
JP2010158942A (en) | 2009-01-07 | 2010-07-22 | Mitsubishi Heavy Ind Ltd | Guide device of traffic vehicle |
US7866671B2 (en) | 2009-01-12 | 2011-01-11 | Herman Madler | Automatic leveling vehicle |
JP5310055B2 (en) | 2009-02-12 | 2013-10-09 | トヨタ自動車株式会社 | Hybrid vehicle |
US20100316469A1 (en) | 2009-04-10 | 2010-12-16 | Casepick Systems, Llc | Autonomous transports for storage and retrieval systems |
US8594835B2 (en) | 2009-04-10 | 2013-11-26 | Symbotic, LLC | Control system for storage and retrieval systems |
WO2010118412A1 (en) | 2009-04-10 | 2010-10-14 | Casepick Systems, Llc | Storage and retrieval system |
US20100316468A1 (en) | 2009-04-10 | 2010-12-16 | Casepick Systems, Llc | Storage and retrieval system |
US8425173B2 (en) | 2009-04-10 | 2013-04-23 | Symbotic Llc | Autonomous transports for storage and retrieval systems |
US20100324815A1 (en) | 2009-06-18 | 2010-12-23 | Tomoaki Hiruta | Position detection apparatus and position detection program |
US8364309B1 (en) | 2009-07-14 | 2013-01-29 | Bailey Bendrix L | User-assisted robot navigation system |
US9020639B2 (en) | 2009-08-06 | 2015-04-28 | The Regents Of The University Of California | Multimodal dynamic robotic systems |
WO2011028926A2 (en) | 2009-09-02 | 2011-03-10 | Somark Innovations, Inc. | Animal marking devices, transfer assemblies, and useful restraints |
US20110130974A1 (en) | 2009-09-09 | 2011-06-02 | Gm Global Technology Operations, Inc. | Method and apparatus for road surface friction estimation based on the self aligning torque |
US8378825B2 (en) | 2009-10-21 | 2013-02-19 | Airbus Operations Gmbh | System and method for stockkeeping in an aircraft galley |
US20110090064A1 (en) | 2009-10-21 | 2011-04-21 | Airbus Operations Gmbh | System and method for stockkeeping in an aircraft galley |
US9037286B2 (en) | 2010-03-12 | 2015-05-19 | Symbotic Llc | Each pick |
US20110231016A1 (en) | 2010-03-17 | 2011-09-22 | Raytheon Company | Temporal tracking robot control system |
US20110240383A1 (en) | 2010-04-06 | 2011-10-06 | Robotex Inc. | Robotic system and method of use |
US8515575B2 (en) | 2010-07-19 | 2013-08-20 | Paragon Technologies, Inc. | Mobile automatic order selection system capable of responding to simultaneous order requests |
US8965619B2 (en) | 2010-12-15 | 2015-02-24 | Symbotic, LLC | Bot having high speed stability |
US20120189409A1 (en) | 2010-12-15 | 2012-07-26 | CasePick Systems, LLC. | Autonomous transport vehicle |
US20120185122A1 (en) | 2010-12-15 | 2012-07-19 | Casepick Systems, Llc | Bot having high speed stability |
DE102011012950A1 (en) | 2011-03-03 | 2012-09-06 | Grenzebach Maschinenbau Gmbh | Device and method for the defined interim storage and commissioning of produced goods of the same kind, but of different sizes |
US20120247239A1 (en) | 2011-04-04 | 2012-10-04 | Dematic Accounting Services Gmbh | Telescoping mechanism and method of extending and retracting a telescoping mechanism |
US20130061420A1 (en) | 2011-09-09 | 2013-03-14 | Dyson Technology Limited | Autonomous surface treating appliance |
US20130094926A1 (en) | 2011-10-14 | 2013-04-18 | Krones Ag | Rack-serving unit and order-picking warehouse |
US20150336741A1 (en) | 2011-12-21 | 2015-11-26 | Tgw Logistics Group Gmbh | Rack storage system and method for operating it |
US20140350725A1 (en) | 2012-01-25 | 2014-11-27 | Adept Technology, Inc. | Autonomous mobile robot for handling job assignments in a physical environment inhabited by stationary and non-stationary obstacles |
US20160000282A1 (en) | 2013-01-29 | 2016-01-07 | Dyson Technology Limited | Mobile robot |
US20160121486A1 (en) | 2013-05-23 | 2016-05-05 | Q-Bot Limited | Method of Covering a Surface of a Building and Robot Therefor |
US20150081089A1 (en) | 2013-09-13 | 2015-03-19 | Symbotic, LLC | Automated storage and retrieval system |
JP5931297B2 (en) | 2013-09-24 | 2016-06-08 | 小米科技有限責任公司Xiaomi Inc. | Connecting parts for earphone plug, earphone socket and terminal |
US20150150429A1 (en) | 2013-12-04 | 2015-06-04 | Samsung Electronics Co., Ltd. | Cleaning robot and control method thereof |
US20150314446A1 (en) | 2014-04-30 | 2015-11-05 | The Boeing Company | Crawler Robot and Supporting Platform |
US20170083020A1 (en) | 2015-09-23 | 2017-03-23 | Amazon Technologies, Inc. | Actively balanced mobile drive unit |
Non-Patent Citations (6)
Title |
---|
European Search Report, European Application No. 11190634, dated Mar. 22, 2016. |
European Search Report, European Application No. 14843969, dated Apr. 19, 2017. |
International Search Report, International Application No. PCT/US/2011/065243, dated Mar. 21, 21012. |
International Search Report, International Application No. PCT/US2011/065238, dated Mar. 21, 2012. |
International Search Report, International Application No. PCT/US2011/065243, dated Mar. 21, 2012. |
International Search Report, International Application No. PCT/US2014/55563, dated Mar. 16, 2015. |
Also Published As
Publication number | Publication date |
---|---|
US20120185082A1 (en) | 2012-07-19 |
US11952214B2 (en) | 2024-04-09 |
US10227177B2 (en) | 2019-03-12 |
US20180194555A1 (en) | 2018-07-12 |
US20170113874A1 (en) | 2017-04-27 |
US20200307909A1 (en) | 2020-10-01 |
US20190210803A1 (en) | 2019-07-11 |
US11273981B2 (en) | 2022-03-15 |
US20220194703A1 (en) | 2022-06-23 |
US9499338B2 (en) | 2016-11-22 |
US10683169B2 (en) | 2020-06-16 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US11952214B2 (en) | Automated bot transfer arm drive system | |
US20210380337A1 (en) | Automated bot with transfer arm | |
US10106322B2 (en) | Bot payload alignment and sensing | |
US20210047113A1 (en) | Warehousing scalable storage structure | |
EP2651789B1 (en) | Bot payload alignment and sensing | |
US20150239665A1 (en) | Multilevel vertical conveyor platform guides | |
US20150104282A1 (en) | Suspension system for autonomous transports | |
US20240010428A1 (en) | Systems and methods for providing mobile shuttle load handling systems |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: SYMBOTIC, LLC, MASSACHUSETTS Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:SULLIVAN, ROBERT;TOEBES, STEPHEN C.;SIGNING DATES FROM 20161210 TO 20170112;REEL/FRAME:040975/0055 |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Year of fee payment: 4 |